Mlu Dn32hp Manual2

Programmable Logic Controller
MasterLogic-50
MLU series Hardware User’s Manual
MLU-DN32HP
10-23-421-19-EN
Jan 2019
Last Revision Date: 13 April 2019

Version: Rev. 1.0
Notices and Trademarks
Copyright 2007-2019 by Honeywell
Revision 1 April 2019
Warranty/Remedy
Honeywell warrants goods of its manufacture as being free of defective materials and faulty
workmanship. Contact your local sales office for warranty information. If warranted goods are
returned to Honeywell during the period of coverage, Honeywell will repair or replace without
charge those items it finds defective. The foregoing is Buyer's sole remedy and is in lieu of all
other warranties, expressed or implied, including those of merchantability and
fitness for a particular purpose. Specifications may change without notice. The information
we supply is believed to be accurate and reliable as of this printing. However, we assume no
responsibility for its use.
While we provide application assistance personally, through our literature and the Honeywell
web site, it is up to the customer to determine the suitability of the product in the application.
Honeywell Field Solution

Honeywell Pte LTD
Honeywell Building
17 Changi Business Park Central 1,
Singapore
Before using the product …
For your safety and effective operation, please read the safety instructions thoroughly before using the
product.
► Safety Instructions should always be observed in order to prevent accident or risk with the safe and
proper use the product.
► Instructions are separated into “Warning” and “Caution”, and the meaning of the terms is as follows;
This symbol indicates the possibility of serious injury or death if

Warning some applicable instruction is violated
This symbol indicates the possibility of slight injury or damage to

Caution products if some applicable instruction is violated
► The marks displayed on the product and in the user’s manual have the following meanings.
Be careful! Danger may be expected.
Be careful! Electric shock may occur.
► The user’s manual even after read shall be kept available and accessible to any user of the product.
Safety Instructions when designing
Warning
 Please, install protection circuit on the exterior of PLC to protect

the whole control system from any error in external power or PLC
module. Any abnormal output or operation may cause serious problem in safety of the
whole system.
- Install applicable protection unit on the exterior of PLC to protect the system from
physical damage such as emergent stop switch, protection circuit, the upper/lowest
limit switch, forward/reverse operation interlock circuit, etc.
- If any system error (watch-dog timer error, module installation error, etc.) is
detected during CPU operation in PLC, the whole output is designed to be turned
off and stopped for system safety. However, in case CPU error if caused on output
device itself such as relay or TR can not be detected, the output may be kept on,
which may cause serious problems. Thus, you are recommended to install an
addition circuit to monitor the output status.
 Never connect the overload than rated to the output module nor allow the output
allow the output circuit to have a short circuit, which may cause a fire.
 Never let the external power of the output circuit be designed to be on earlier
than PLC power, which may cause abnormal output or operation.
 In case of data exchange between computer or other external equipment and

PLC through communication or any operation of PLC (e.g. operation mode
change), please install interlock in the sequence program to protect the system
from any error. If not, it may cause abnormal output or operation.
Caution
 I/O signal or communication line shall be wired at least 100mm away from
a high-voltage cable or power line. If not, it may cause abnormal output or operation.
Caution
 Use PLC only in the environment specified in PLC manual or general standard
of data sheet. If not, electric shock, fire, abnormal operation of the product or flames
may be caused.
 Before installing the module, be sure PLC power is off. If not, electric shock or
damage on the product may be caused.
 Be sure that each module of PLC is correctly secured. If the product is installed
loosely or incorrectly, abnormal operation, error or dropping may be caused.
 Be sure that I/O or extension connecter is correctly secured. If not, electric

shock, fire or abnormal operation may be caused.
 If lots of vibration is expected in the installation environment, don’t let PLC

directly vibrated. Electric shock, fire or abnormal operation may be caused.
 Don’t let any metallic foreign materials inside the product, which may cause
electric shock, fire or abnormal operation.
Safety Instructions when wiring
Warning
 Prior to wiring, be sure that power of PLC and external power is turned off. If not,
electric shock or damage on the product may be caused.
 Before PLC system is powered on, be sure that all the covers of the terminal are
securely closed. If not, electric shock may be caused.
Caution
 Let the wiring installed correctly after checking the voltage rated of each product
and the arrangement of terminals. If not, fire, electric shock or abnormal operation
may be caused.
 Secure the screws of terminals tightly with specified torque when wiring. If the
screws of terminals get loose, short circuit, fire or abnormal operation may be caused.
*
 Surely use the ground wire of Class 3 for FG terminals, which is exclusively
used for PLC. If the terminals not grounded correctly, abnormal operation may be
caused.
 Don’t let any foreign materials such as wiring waste inside the module while
wiring, which may cause fire, damage on the product or abnormal operation.
Safety Instructions for test-operation or repair
Warning
 Don’t touch the terminal when powered. Electric shock or abnormal operation may
occur.
 Prior to cleaning or tightening the terminal screws, let all the external power off
including PLC power. If not, electric shock or abnormal operation may occur.
 Don’t let the battery recharged, disassembled, heated, short or soldered. Heat,
explosion or ignition may cause injuries or fire.
Caution
 Don’t remove PCB from the module case nor remodel the module. Fire, electric
shock or abnormal operation may occur.
 Prior to installing or disassembling the module, let all the external

power off including PLC power. If not, electric shock or abnormal operation may
occur.
 Keep any wireless installations or cell phone at least 30cm away from PLC. If not,
abnormal operation may be caused.
Safety Instructions for waste disposal
Caution
 Product or battery waste shall be processed as industrial waste. The waste may
discharge toxic materials or explode itself.
About User’s Manual
Congratulations on purchasing PLC of Honeywell.
Before use, make sure to carefully read and understand the User’s Manual about the functions, performances, installation and
programming of the product you purchased in order for correct use and importantly, let the end user and maintenance
administrator to be provided with the User’s Manual.
The User’s Manual describes the product. If necessary, you may refer to the following description and order accordingly. In
addition, you may connect our website(http://www.honeywellprocess.com/) and download the information as a PDF file.
Revision History
Version Date Remark Part Page
V 1.0 2019.01 1. First Edition - -
※ The number of User’s manual is indicated the right side of the back cover.
◎ Contents ◎
1: System
Chapter 1 Introduction ..................................................................................... 1-1~1-17
1.1 Guide to Use This Manual ...................................................................................... 1-1

1.2 Features ................................................................................................................ 1-3
1.3 Terminology ........................................................................................................... 1-5
Chapter 2 System Configuration ......................................................................... 2-1~2-13
2.1 Table of Products Configuration ............................................................................. 2-1

2.2 Classification and Type of Product Name ............................................................. 2-3
2.3 MLU ‘H(P)’ Type’s System Configuration................................................................ 2-8
Chapter 3 Specifications ..................................................................................... 3-1~3-9
3.1 Names and Functions of Each Part ........................................................................ 3-1

3.2 General specifications ............................................................................................ 3-3
3.3 Power specifications .............................................................................................. 3-4
3.4 Battery ................................................................................................................... 3-7
3.5 Performance specifications .................................................................................... 3-8
Chapter 4 Installation and wiring ............................................................................ 4-1~4-18
4.1 Parameter & Operation data .................................................................................. 4-1

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

5.2 Daily Inspection ..................................................................................................... 5-1
5.3 Periodic Inspection................................................................................................. 5-2
Chapter 6 Troubleshooting .................................................................................... 6-1~6-13
6.1 Basic Procedure of Troubleshooting....................................................................... 6-1

6.2 Troubleshooting .................................................................................................... 6-1
6.3 Troubleshooting Questionnaire .............................................................................. 6-7
6.4 Troubleshooting Examples ..................................................................................... 6-8
6.5 Error Code List ..................................................................................................... 6-12
Chapter 7 EMC Standard ........................................................................................ 7-1~7-4
7.1 Requirements for Conformance to EMC Directive ................................................ 7-1

7.2 Requirement to Conform to the Low-voltage Directive ........................................... 7-4
2: Basic Functions
Chapter 1 Program Configuration and Operation Method ......................................... 1-1~1-34
1.1 Programming Basics .............................................................................................. 1-1

1.2 Operation Mode ................................................................................................... 1-24
1.3 Memory................................................................................................................ 1-30
Chapter 2 CPU Function ....................................................................................... 2-1~2-36
2.1 Type Setting ........................................................................................................... 2-1

2.2 Parameter Setting .................................................................................................. 2-2
2.3 Self-Diagnosis Function ......................................................................................... 2-5
2.4 RTC Function ....................................................................................................... 2-12
2.5 Time Counter Function ......................................................................................... 2-14
2.6 Remote Function.................................................................................................. 2-19
2.7 I/O forced On/Off Function ................................................................................... 2-20
2.8 Direct I/O Function ............................................................................................... 2-21
2.9 Function saving the operation history ................................................................... 2-22
2.10 How to allocate I/O No. ...................................................................................... 2-23
2.10 Modification procedures during RUN.................................................................. 2-24
2.12 Read I/O information .......................................................................................... 2-27
2.13 Monitoring Functions .......................................................................................... 2-28
2.14 PLC’s Read-Protect Function ............................................................................. 2-33
2.15 Function to delete all of the PLC ........................................................................ 2-34
Chapter 3 Input/Output Specifications ..................................................................... 3-1~3-28
3.1 Introduction ............................................................................................................ 3-1

3.2 Main Unit Digital Input Specifications ..................................................................... 3-4
3.3 Main Unit Digital Output Specifications................................................................... 3-5
3.4 Digital Input Specifications ..................................................................................... 3-6
3.5 Digital Output Specifications................................................................................... 3-9
3.6 Combined Digital I/O module Input Specification .................................................. 3-18
3.7 Combined Digital I/O module Output Specification ............................................... 3-20
3.8 I/O modules’ Functions ........................................................................................ 3-22
Chapter 4 Built-in High-speed Counter Function ....................................................... 4-1~4-29
4.1 High-speed Counter Specifications ........................................................................ 4-1

4.2 Installation and Wiring .......................................................................................... 4-21
4.3 Internal Memory ................................................................................................... 4-22
4.4 Examples: Using High-speed Counter ................................................................. 4-26
Chapter 5 Built-in PID Function ........................................................................... 5-1~5-50
5.1 Features of Built-in PID Function ........................................................................... 5-1

5.2 Basic Theory of PID Control ................................................................................... 5-2
5.3 Functional Specifications of PID Control ................................................................ 5-9
5.4 Usage of PID Control Functions ........................................................................... 5-10
5.5 PID Instructions ................................................................................................... 5-26
5.6 PID Auto-tuning .................................................................................................... 5-28
5.7 Example Programs .............................................................................................. 5-37
5.8 Error / Warning Codes ......................................................................................... 5-48
3: Positioning
Chapter 1 Overview ............................................................................................ 1-1~1-12
1.1 General .................................................................................................................. 1-1

1.2 Purpose of Positioning Control ............................................................................... 1-3
1.3 Operation Sequence of Positioning ........................................................................ 1-3
1.4 Function overview of embedded positioning........................................................... 1-5
Chapter 2 Specifications ......................................................................................... 2-1~2-5
2.1 Performance Specifications.................................................................................... 2-1

2.2 2.2 External Interface I/O Specifications................................................................. 2-3
Chapter 3 Operation Order and Installation ........................................................... 3-1~3-4
3.1 Operation Order ..................................................................................................... 3-1

3.2 Installation.............................................................................................................. 3-2
3.3 Notices in Wiring .................................................................................................... 3-3
Chapter 4 Positioning Control .................................................................................. 4-1~4-3
4.1 Positioning task ...................................................................................................... 4-1
Chapter 5 Positioning Parameter & Operation Data ............................................ 5-1~5-46
5.1 Parameter & Operation data .................................................................................. 5-1

5.2 Basic Parameter .................................................................................................... 5-2
5.3 Extended Parameter .............................................................................................. 5-6
5.4 Manual Parameter ............................................................................................... 5-18
5.5 Homing Parameter ............................................................................................... 5-19
5.6 I/O Signal Parameter ........................................................................................... 5-23
5.7 Common Parameter ............................................................................................. 5-24
5.8 Operation Data..................................................................................................... 5-26
Chapter 6 Positioning Monitoring Package ......................................................... 6-1~6-17

6.1 Internal Memory ..................................................................................................... 6-1
6.2 K area Signal ......................................................................................................... 6-9
Chapter 7 Positioning Monitoring Package ......................................................... 7-1~7-63
7.1 System Composition and Setting of Input and Output ............................................ 7-1
7.2 Dedicated Commands ........................................................................................... 7-7
7.3 Use of Dedicated Command ................................................................................ 7-63
Chapter 8 Program ............................................................................................. 8-1~8-47
8.1 Example of Programming....................................................................................... 8-1
Chapter 9 Functions ........................................................................................... 9-1~9-12
9.1 Homing .................................................................................................................. 9-1

9.2 Positioning Control ............................................................................................... 9-12
9.3 Manual Operation Control .................................................................................. 9-101
9.4 Synchronous Control ......................................................................................... 9-108
9.5 Modification Function of Control ......................................................................... 9-127
9.6 Auxiliary Function of Control .............................................................................. 9-145
9.7 Data Modification Function ................................................................................. 9-151
Chapter 10 Positioning Error Information & Solutions ..................................... 10-1~10-15
10.1 Positioning Error Information & Solutions ........................................................... 10-1

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

11.2 Axis1 operation data memory address................................................................ 11-6
11.3 Axis2 operation data memory address.............................................................. 11-15
11.8 CAM data memory address .............................................................................. 11-60
11.9 user CAM data memory address .....................................................................11-153
Chapter 12 Motor Wiring Example .................................................................... 12-1~12-4
12.1 Stepping Motor Wiring Example ......................................................................... 12-1

12.2 Servo Motor Wiring Example.............................................................................. 12-2
4: Communication
Chapter 1 Built-in FEnet Communication .......................................................... 1-1~1-100
1.1 Outline ................................................................................................................... 1-1

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

2.2 Specification........................................................................................................... 2-2
2.3 Snet Communication System Configuration ........................................................... 2-8
2.4 Basic Setting for Communication ......................................................................... 2-16
2.5 Remote Connection ............................................................................................. 2-24
2.6 Server Function and P2P service ......................................................................... 2-37
2.7 ML Dedicated Protocol ......................................................................................... 2-57
2.8 MODBus Protocol ................................................................................................ 2-77
2.9 Diagnosis Function .............................................................................................. 2-92
2.10 Example Program ............................................................................................ 2-101
2.11 Error Code ....................................................................................................... 2-126
Appendix
Appendix 1 Flag List ........................................................................... App. 1-1~App.1-11
Appendix 1.1 Special Relay (F) List ..................................................................... App. 1-1

Appendix 1.2 Communication Relay (L) List ........................................................ App. 1-6
Appendix 1.3 Network Register (N) List ............................................................ App. 1-10
Appendix 2 Dimension ........................................................................... App.2-1~App.2-4
Appendix 3 Instruction List ....................................................................App.3-1~App.3-41
Appendix 3.1 Classification of Instructions ............................................................ App.4-1

Appendix 3.2 Basic Instructions .......................................................................... App.4-2
Appendix 3.3 Application Instruction .................................................................... App.4-5
Appendix 3.4 Special/Communication Instruction.............................................. App.4-38
Chapter 1 Introduction
Part 1. System
1.1 Guide to this Manual
This manual includes specifications, functions and handling instructions for ML50 series PLC. This manual is divided up into
chapters as follows
No. Title Contents
Describes configuration of this manual, unit’s features and
terminology.
Describes available units and system configuration in the
Chapter 2 System Configurations
ML50 series.
Describes general specifications of units used in the
Chapter 3 Specifications
ML50 series.
1.System
Chapter 4 CPU Specifications Describes performances, specifications and operations.
Describes the check items and method for long-term

Chapter 5 Maintenance
normal operation of the PLC system.
Chapter 6 Troubleshooting Describes various operation errors and corrective actions.
Describes system configuration following EMC

Chapter 7 EMC Specifications
specification.
Program Configuration and Operation
Chapter 1
Method
Describes performances, specifications and operations.
Chapter 2 CPU Specifications
2.Main
Chapter 3 Input/Output Specifications Describes operation of basic and input/output.
Chapter 4 Built-in High-speed Counter Function Describes built-in high-speed counter functions.
Chapter 5 Built-in PID Function Describes Built-in PID Function
Describes the specification, method to use each

Chapter 1 Overview positioning function, programming and the wiring with
external equipment of embedded positioning function.
3.Positioning
Chapter 2 Specifications Describes general specifications of Positing function.
Describes the Operation order in case of positioning

Chapter 3 Before Positioning
operation by embedded positioning.
Describes parameter and operation data to be set by
Chapter 4 Positioning Check
software package with embedded positioning.
1-1 ML50 MLU-DN32HP User’s Manual

R100 Honeywell January 2019
Chapter 5 Positioning Instructions
Introduction to Positioning Monitoring

Chapter 6 Describes Positioning Monitoring Package
Package
Chapter 7 Program Examples of Programming Describes Examples of Programming

3.Positioning
Chapter 8 Troubleshooting Procedure Describes errors and Troubleshooting
Describes the Operation order in case of positioning

Chapter 9 Positioning Instruction and K area List
operation by embedded positioning.
Chapter 10 Motor Wiring Example Describes wiringexamples.
Chapter 1 Built-in FEnet Communication Describes Ethernet communications.

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

1.2 Features
The features of ML50 system are as follows.
1.2.1 Advanced Performances

(1) Rapid Processing Speed
The processing speed has been improved up to more than 75% compared to the existing MLM PLC.
Items MLM ‘S' Type MLU ‘H2/HP’ Type Remarks

Sequence Based on
160 ㎱ 40 ㎱
MLOAD command
command
Data command 3.52 ㎲ 1.22 ㎲ Based on MOV command
10.3 ㎲ 2.0 ㎲ RADD command
Real 10.6 ㎲ 2.0 ㎲ RMUL command
11.8 ㎲ 3.7 ㎲ LADD command
Long Real 16.9 ㎲ 3.7 ㎲ LMUL command
Items MLM ‘S' Type MLU ‘H2/HP’ Type Remarks

Program capacity 10KStep 64KStep
Data capacity 5120word 32,768 word Based on D area
(3) Advanced functions

-Built -in 10/100 BASE-TX Ethernet(max 16 channel P2P service)
- provide EtherCAT expansion module
(4) Permanent data back up : permanent data back up is available by implementing MRAM.
1.2.2 Flexibility of System Configuration

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

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

1.2.3 Powerful Embedded Functions

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

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

- It supports the embedded PID control function up to 16 loops.
- It provides parameter setting using SoftMaster, convenient loop state monitoring through trend monitor.
- You can get the control constant easily by the improved automatic synchronization function.
- You can improve control accuracy by using various additional functions such as PWM output, ∆MV, ∆PV,
SV Ramp, etc.
- It provides various control modes such as forward/reverse mixed operation, 2-stage SV PID control,
cascade control, etc.
-You can secure stability through various alarm functions such as PV MAX, PV change warning, etc.
(4) Embedded position control function(ML50-MLUH2: 2axis, ML50-MLUH P: 6axis)
- The open collector output positioning function with up to 200kpps 2-axis is embedded.
- It provides parameter setting using SM-NM which support operation data edition, diverse
monitoring and diagnosis functions.
- You can conduct a trial run through SM-NM monitoring without the program so you can easily check the
external wirings and operation data.
1.2.4 Easy maintenance
(1) Program modularize for Multi-programing and multi tasks for maintenance are available.
(2) Built-in RTC(real time clock) function make it possible to control schedule maintenance and history.
(3) Integrated program environment
-Separated SoftMaster(ladder programming, parameter setting, monitoring ) and SM-NM(communication and
network parameter setting, frame monitoring) have combined in one SoftMaster. It is possible to control PLC in
one programming.

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

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

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

Terms Definition Remark

It refers to the program start condition. There are 6 types such as
Task initialization, constant cycle, internal contact, external contact, high-speed
counter task, and positioning task.
Current flows from the switch to the PLC input terminal if a input signal
turns on.
Z: Input
Sink Input
impedance

Current flows from the PLC input terminal to the switch after a input signal
turns on.
Z: Input
Source Input
impedance
Current flows from the load to the output terminal and the PLC output
turn on.
Sink Output -
Current flows from the output terminal to the load and the PLC output
turn on.
Source Output -

1.3.2 Serial communication term
(1) Communication type

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

(a) Serial transmission
This type transmits bit by bit via 1 cable. The speed of transmission is slow, but the cost of installation is low and the
software is simplified.
7 6 5 4 3 2 1 0
0 1 0 0 1 1 0 1
TX
송신 RX
수신
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
RS-232C, RS-422 and RS-485 are the examples

(b) Parallel transmission

This type is used in printer, etc., which transmits data in unit of 1 byte, so the speed is high and the accuracy of data
is reliable. However, the longer the transmission distance is, the higher the cost of installation is geometrically.
7 6 5 4 3 2 1 0
0 1 0 0 1 1 0 1
1
송신
TX 수신
RX
0
(3) Asynchronous Communication

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

Transmission Direction
P S P S P S P S P S P S P S
S A E T
S A T
S A T
S A T
S A T
S A T
S A E T
T R O T R T R T R T R T R T R N
O I
T T
A
R
O I
T
A A
R
O I
T
E A
R
O I
T
R A
R
O I
T
O A
R
O I
T
K A
R
O I
T Q
A
R
P P P P P P P
Y
(04H)
T Y T Y T Y T Y T Y T Y
(05H)
T
Stop Bit Parity Bit Data Bits Start Bit

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

BPS is a unit of transfer rate that represents how many bits are transferred per second. CPS is the number of the
characters transferred for a second. Generally, one character is 1Byte (8Bits), so CPS is the number of bytes which can
be transferred per second.
(6) Node
Node is a term that means the connected nodes of the data in the network tree structure, generally network is composed
of a great number of nodes, and is also expressed as the station number.
(7) Packet
Packet, a compound term of package and bucket used for packet exchange type to send information as divided in a unit
of packet, separates transferred data into the defined length to add a header that presents the correspondent addresses
(station No., etc.) thereto.
(8) Port
Port is meant to be the part of the data process device which sends or receives the data from a remote control terminal in
data communications, but in Cnet serial communication is meant to be the RS-232C or RS-422 port.
(9) RS-232C
RS-232C is the interface to link a modem with a terminal and to link a modem with a computer, and is also the serial
communications specification established by EIA according to the recommendations of the CCITT. This is also used to
link the null modem directly as well as the modem linkage. The disadvantage is that the transfer length is short and that
only 1 : 1 communication is available, and the specifications which have overcome this disadvantage are RS-422 and
RS-485.
(10) RS-422/RS-485
As one of the serial transmission specifications, its transferring length is long with 1 : N connection available compared to
RS-232C. The difference of these two specifications is that RS-422 uses 4 signals of TX(+), TX(-), RX(+) and RX(-),
while RS-485 has 2 signals of (+) & (-), where data is sent and received through the same signal line. Accordingly,
RS-422 executes the full-duplex type of communication and RS-485 executes the half-duplex type of communication.

(11) Half Duplex Communication

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

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

(13) BCC (Block Check Character)

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

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

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

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

N No. and Parameter by Commend O C
Q T C
A Station Comm Proces E B

C No. and sing T C
Head Segment Tail K Result X C
Response Frame
[Structure of general Tx/Rx frame]
- Head: ASCII value indicating frame start.

- Tail: ASCII value indicating frame end.
- BCC (Block Check Character)
 Check data for Tx/Rx frame
 Used to inspect reliability of data with such various methods as ADD, OR, Exclusive OR, MULTPLY, etc
(16) Reset
This function is used to initialize the communication module with errors.
Use SM-NM to select [On-Line] → [Reset] so to execute Reset, which will restart PLC.

1.3.3 Ethernet term
This chapter describes about the general terminology of FEnet I/F module. For more detail, refer to professional book on the
Ethernet
(1) IEEE 802.3

IEEE 802.3 specifies standards for CSMA/CD based Ethernet. Exactly it is a LAN based on CSMA/CD (Carrier
Sense Multiple Access with Collision Detection) Ethernet designed by IEEE 802.3 group, which is classified into
detailed projects as specified below;
A) IEEE P802.3 - 10G Base T study Group

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

Protocol to search for MAC address by means of correspondent IP address on the Ethernet LAN
(3) Bridge
A device used to connect two networks so to be operated as one network. Bridge is used not only to connect two
different types of networks but also to divide one big network into two small networks in order to increase the
performance
(4) Client
A user of the network service, or a computer or program (mainly the one requesting services) using other
computer’s resource.
(5) CSMA/CD(Carrier Sense Multiple Access with Collision Detection)

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

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

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

(8) E-mail Address

The address of the user with login account for the specific machine connected via the Internet. Usually user’s ID @
domain name (machine name) is assigned. In other words, it will be like hjjee@microsoft.com, where @ is called
as ‘at’ displayed with shift+2 pressed on the keyboard. The letters at the back of @ are for the domain name of
specific company (school, institute,..) connected with the Internet, and the letters in front of @ are for the user ID
registered in the machine. The last letters of the domain name are for the highest level. USA generally uses the
following abbreviation as specified below, and Korea uses .kr to stand for Korea. .com : usually for companies)
/ .edu : usually for educational organizations such as universities. / .ac(academy) is mostly used in Korea / .gov : for
governmental organizations. For example, nasa.gov is for NASA (government) / .mil : military related sites. For
example, af.mil is for USA air force (military)/ .org : private organizations / .au : Australia / .uk : the United Kingdom
/ .ca : Canada / .kr : Korea / .jp : Japan / .fr : France / .tw : Taiwan, etc.
(9) Ethernet
A representative LAN connection system (IEEE 802.3) developed by Xerox, Intel and DEC of America which can
send about 10Mbps and use the packet of 1.5kB. Since Ethernet can allow various types of computers to be
connected as one via the network, it has been called a pronoun of LAN as a universal standard with various
products available, not limited to some specific companies.
(10) FTP (File Transfer Protocol)

An application program used to transfer files between computers among application programs providing TCP/IP
protocol. If an account is allowed to the computer to log in, fast log in the computer is available wherever the
computer is so to copy files.
(11) Gateway
Software/Hardware used to translate for two different protocols to work together, which is equivalent to the
gateway necessary to exchange information with the different system.
(12) Header
Part of the packet including self station number, correspondent station number and error checking area.
(13) HTML
Hypertext Markup Language, standard language of WWW. In other words, it is a language system to prepare
Hypertext documents. The document made of HTML can be viewed through the web browser
(14) HTTP
Hypertext Transfer Protocol, standard protocol of WWW. It is a protocol supporting the hypermedia system.
(15) ICMP (Internet Control Message Protocol)

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

Protocol of network layers for the Internet

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

A subsidiary organization of UN establishing and managing the international standards
(19) LAN (Local Area Network)

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

A method used to decide which device should use the network during given time on the broadcast network
(21) Node
Each computer connected with the network is called Node
(22) Packet
A package of data which is the basic unit used to send through the network. Usually the package is made of
several tens or hundreds of bytes with the header attached in front to which its destination and other necessary
information are added
(23) PORT number

Used to classify the applications on TCP/UDP.
Ex.) 21/tcp : Telet
(24) PPP (Point-to-Point Protocol)

Phone communication protocol which allows packet transmission in connecting with the Internet. In other words,
normal phone cable and modem can be used for the computer to connect through TCP/IP with this most general
Internet protocol.
Similar to SLIP, however with modern communication protocol factors such as error detection and data
compression, it demonstrates more excellent performance than SLIP.
(25) Protocol
Contains regulations related with mutual information transmission method between computers connected with each
other through the network. The protocol may specify detailed interface between machines in Low level (for example,

which bit/byte should go out through the line) or high level of message exchange regulations as files are
transferred through the Internet.
(26) Router
A device used to transfer the data packet between the networks. It sends the data packet to its final destination,
waits if the network is congested, or decides which LAN is good to connect to at the LAN junction. Namely, it is a
special computer/software used to control the two or more networks connected.
(27) Server
The side which passively responds to the client’s request and shares its resources.
(28) TCP (Transmission Control Protocol)

A transport layer protocol for the Internet
- Data Tx/Rx through connection
- Multiplexing
- Transmission reliable
- Emergent data transmission supported
(29) TCP/IP (Transmission Control Protocol/Internet Protocol)

Transmission protocol used for communication among different kinds of computers, which makes the
communication available between general PC and medium host, IBM PC and MAC, and medium or large-sized
different types of computer. It is also used as a general term for information transmission protocol between
computer networks including FTP, Telnet, SMTP, etc. TCP divides data into packets to send through IP and the
packets sent will be united back together through TCP.
(30) Telnet
It means remote login via Internet. To login to remote host via TELNET, account of that host is necessary.
But for some hosts providing public service, you can connect without account

(31) Token Ring

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

A transport layer protocol for the Internet
- High speed communication because of communication without connection
- Multiplexing
- Lower reliability than TCP in transmission (Tough data doesn’t arrive, it doesn’t send data again)
(33) Auto-Negotiation
Fast Ethernet is that Ethernet exchanges information like operation speed, duplex mode.
1. Detect disconnection
2. Decide the specification of network device
3. Change connection speed
(34) FDDI (Fiber Distributed Data Interface)

Based on optical cable, provides 100Mbps, Shared Media Network as Dual Ring method, Token Passing
is done in two-way.
Max 200Km distance for entire network, Max 2Km between Nodes, Max 500 nodes. Generally, this used
as Backbone Network.
(35) Reset
This is function used when you want to initialize the communication module to clear the error
Select [Online]  [Rest] in the SM-NM
If you execute this function, PLC will restart.

Chapter 2 System Configuration
Chapter 2 System Congifuration

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

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

H/W : V2.0
Main Unit DC24V power supply, DC24V input 16 point, Transistor output 16 point(sink) O/S:V2.0 or
MLU-DN32HP
Built-in position 6 axis above
MLE-DC08A DC24V Input 8 point
MLE-DC16A/B DC24V Input 16 point Input
MLE-DC32A DC24V Input 32 point
MLE-RY08A Relay output 8 point
MLE-RY08B Relay output 8 point(isolated ouput)
Expansion Unit
MLE-RY16A Relay output 16 point

MLE-TN08A Transistor output 8 point (sink type)
MLE-TN16A Transistor output 16 point (sink type) Output
MLE-TN32A Transistor output 32 point (sink type)
MLE-TP08A Transistor output 8 point (source type)
MLE-DR16A DC24V Input 8 point, Relay output 8 point
In/Output
MLE-DN32A DC24V Input 8 point, Transistor output 16 point (sink type)
MLF-AD04A Current/Voltage input 4 channel, 1/4000 resolution
MLF-AD04C Current/Voltage input 4 channell, 1/16000 resolution
MLF-AD08A Current/Voltage input 8 channel, 1/4000 resolution
MLF-DC04A Current output 4 channell, 1/4000 resolution Analog
MLF-DC04C Current output 4 channel, High resolutionl, 1/16000 resolution ln/Out
MLF-DV04A Voltage output 4 channell, 1/4000 resolution
MLF-DV04C Voltage output 4 channel, 1/16000 resolution
MLF-AH04A Current/Voltage input 2 channel, Current/Voltage output 2 channel, 1/4000 resolution
Special Module
MLF-RD04A RTD (Resistance Temperature Detector) input 4 channel, Pt100, Jpt100

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

Types Model Description Remark

MLL-C21A Cnet (RS-232C/Modem) I/F -
MLL-C41A Cnet (RS-422/485) I/F -
MLL-EMTA Enet I/F -
-
Communication
MLL-EIPT EtherNet I/P Module -

Module
MLL-CMEA CANopen MasterI/F -
MLL-CSEA CANopen Slave I/F -
MLL-PMEC Profibus-DP, Master -
MLL-PSEA Profibus-DP, Slave
MLL-DSEA DeviceNet, Slave
USB-301A Connection cable (PC to PLC), USB
Notice
For new products that are not included to this manual, please contact a nearby exclusive agency.

2.2 Classification and Type of Product Name
2.2.1 Classification and type of basic unit

Standard (S)
Name of basic unit is classified as follows. Standard with usb loader (SU)
High-end type (H)
M L M - D N 32 H H : 2 aixs with APM
HP : 6aixs with XPM

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

MLM-DR16S 8 point 8point None
MLM-DN16S 8point None 8point
MLM-DN32S 16 point None 16 point
DC24V
Main unit
MLU-DN32HP 16 point None 16 point
MLC-DR32H 16 point 16 point None
MLC-DN32H 16 point None 16 point AC110V-220V
MLC-DR64H 32 point 32 point None
MLC-DN64H 32 point None 32 point

2.2.2 Classification and type of expansion module

Name of expansion module is classified as follows.
M L E - DC XX A
ML50 series No. of I/O point
Relay output(RY)
Transistor output (TN/TP)
I/O expansion module(E)
Digital input (DC)
Expansion special module(F)
Digital input+ sink type transistor output (DN)
Expansion communication
Digital input+ source type transistor output (DP)
module(L)
Digital input+ Relay output (DR)
Option module(O)
Name DC input Relay output Transistor output Reference
MLE-DC08A 8 point None None
MLE-DC16A/B 16 point None None Input
MLE-DC32A 32 point None None
MLE-RY08A/B None 8 point None

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

2.2.3 Classification and type of special module
Special module is classified as follows.
M L F - AD XX A
Non-insulation type (A/C)

Insulation type (S)
ML50 series
RTD input (RT)
TC input(TT)
No. of IO point
Analog input (AD)

Analog voltage output (DC)
I/O expansion module(E) Analog current output (DV)
Expansion special module(F) Analog inout (AH)
Expansion communication RTD input (RD)
module(L) Thermocouple input (TC)
Option module(O) High Speed Counter(HD/HO)
Lindriver Positioning Module(PD)
EtherCAT Positioning Module(PN)
No. of input No. of output

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

2.2.4 Classification and type of communication module

Name of communication module is classified as follows.
M L L - C21A
C21A : Cnet 1 channel (RS-232C)

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

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

MLL-C21A RS-232C, 1 channel
Cnet Comm. Module
MLL-C41A RS-422/485, 1 channel
FEnet Comm. Module MLL-EMTA Electricity, open type Ethernet
EtherNet Comm. Module MLL-EIPT Open EtherNet I/P
MLL-CMEA CANopen Master

CANopen Comm. Module
MLL-CSEA CANopen Slave
MLL-PMEC Profibus-DP Master

Pnet Comm. Module
MLL-PSEA Profibus-DP Slave
DeviceNet Comm. Module MLL-DSEA DeviceNet Slave

2.3 MLU ‘HP’ Type’s System Configuration

2.3.1 How to configure the System
You can configure thesystem by using the MLU ‘HP’ Type PLC as below.
You can connect to the expansion modules up to 7EA.
Basic unit I/O module Special module Communication

module
Items Description
• MLC-DN32H : 32 points~256 points
Number of I/O configuration points
• MLC-DN32HP : 32 points~256 points
Digital I/O
• Up to 7 EA
module
Number of
Special module • Up to 7 EA
accessible
Communication module • Up to 2 EA
expansion
High speed expansion
modules • Up to 2 EA (Can be expanded for 2 slots just behind the basic unit)
module
Option module • Cannot be installed.
Main • MLM-DN16S • MLM-DR16S • MLM-DN32S
MLM/MLC/MLU series
Unit • MLU-DN32H2 • MLU-DN32HP
•MLE-DC08/16/32A •MLE-TN08/16/32A •MLE-RY08/16A
Digital I/O
•MLE-DC16B • MLE-TP08/16/32A •MLE-RY08B
module
• MLE-DR16A • MLE-DN32A
Configuration of products
• MLF-AD04A • MLF-DC04A • MLF-HO02A

• MLF-AD04C • MLF-DC04C • MLF-HD02A
Expansion module
• MLF-AD08A • MLF-DV04A • MLF-TC04RT

Special module
• MLF-AH04A • MLF-DV04C • MLF-TC04TT
• MLF-RD04A • MLF-TC04S
• MLF-PD02A
• MLL-C41A • MLL-C21A • MLL-PSEA
• MLL-EMTA • MLL-EIMT/F/H • MLL-CMEA/CSEA
Communication module
• MLL-PMEC • MLL-EIPT • MLL-DSEA
High speed I/F module • MLF-PN04B • MLF-PN08B

2.3.2 Instructions for System Configuration

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

(2) How to allocate slots for expansion modules

-In the case of the MLU ‘HP’, built-in Ethernet occupies No.1 slot. Accordingly, No.2 slot is allocated for the first
expansion module.
-In the case of the MLU ’HP’ type, empty slot is allocated for No.1.
0~1 slot 2 slot

2.3.3 Embedded Communication System Configuration

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

(3) Configuring 1:N communication system with the maximum 32 stations by using the basic unit’s embedded RS-
485port
Notice
For detailed specificaitons of the embedded Snet communication, refer to Part4 Communication in this manual.
For detailed specificaitons of the expansion Snet communication module, refer to “ML50 Snet I/F” manual.

2.3.3.2 Embedded Ethernet I/F System Configuration

The Ethernet is the typical LAN interface (IEEE802.3) developed commonly by Xerox, Intel, DEC of U.S.A. It is the
network connection system with the transfer capacity of 100Mbps and packets of 1.5kB. The Ethernet can integrate
different types of computers through network so it is regarded as the representative LAN interface. It is not the standard
for a specific company but the common standard so you can find various products. In addition, it can control
communication through CSMA/CD and builds up the network easily, furthermore, can collect high-capacity data.
(1) Ethernet system’s block diagram
Notice
For more details on how to the above network system configuration and Enet system configuration, refer to Chap.5
Embedded Communication and “ML50 FEnet I/F ” of this manual.

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

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

3.2 General specifications

No. Items Specification Reference
1 Ambient Temp. 0 ~ 55 C
2 Storage Temp. 25 ~ 70 C
3 Ambient humidity 5 ~ 95%RH (Non-condensing) -
4 Storage humidity 5 ~ 95%RH (Non-condensing)
Occasional vibration -
Frequency Acceleration Pulse width Times
5≤f< 8.4㎐  3.5mm
8.4≤f≤150㎐ 9.8m/s (1G)
2  10 times
5 Vibration
Continuous vibration each
Frequency Acceleration Pulse width direction
IEC61131-2
5≤f< 8.4㎐  1.75mm (X,Y and Z)
8.4≤f≤150㎐ 4.9m/s (0.5G)
2 
• Peak acceleration : 147 m/s (15G)
2
6 Shocks • Duration : 11ms

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

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

3.3 Power specifications

This section describes XBM ‘H(P)’ PLC basic unit’s power specifications.
Items Specification condition
Input volatage range DC20.4~28.8V(-15%, + 20%) -15%, + 20% of rated voltage
Rated input voltage DC24V
Input current 1A or less Input max +DC28.8V load

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

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

3.3.1 Consumption current

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

3.3.2 Calculation Example of Consumption Current/Voltage
Calculate the consumption current and configure the system not to exceed the output current capacity of main unit.
Refer to 3.3.1 for each module’s consumption current
(1) XGB PLC configuration example 1

Consumption of current/voltage is calculated as follows.
Internal 5V
consumption
Type Model Unit No. Remark
current
(Unit : ㎃)
Main unit MLU-DN32HP 1 540
In case all contact points are On.
MLE-DC32A 2 50
(Maximum consumption current)
MLE-TN32A 2 80
Expansion module MLF-AD04A 1 120
All channel is used.
MLF-DC04A 1 110
MLL-C21A 1 110
Consumption
1140mA -
current
Consumption
5.7W 1.14A ⅹ 5V = 5.7W
voltage
In case system is configured as above, since 5V consumption current is total 1,140 mA and 5V output of main unit is maximum
2A, normal system configuration is available.
(2) XGB PLC configuration example 2

Internal 5V
consumption
Type Model Unit No. Remark
current
(Unit : ㎃)
Main unit MLU-DN32HP 1 540
In case all contact points are On.
MLE-DR16A 2 250
MLE-RY16A 2 440
Expansion module
MLF-AD04A 2 120 All channel is used.
MLL-C21A 1 110 (Maximum consumption current)
Consumption
2,150mA -
current
Consumption
10.75W 2.15 * 5V = 10.75W
voltage
In case system is configured as above, since 5V consumption current is total 2,150 mA and 5V output of ML50 32 points main
unit is maximum 2A, configuration is not available. This total consumption current is calculated when all input/output points are on.
For safety for system, it is recommened to use higher specification of main unit.

3.4 Battery
3.4.1 Battery specifications
Items Specifications
Nominal voltage / current DC 3.0V / 6.5 mAh
Warranty term 3 years(at room temperature)
Purpose RTC operation during the blackout
Charging time
About 6 months(25℃)
surrounding
Back-up time
temperature
Backup time 70℃ about 195 days
25℃ about 183 days
-25℃ about 133 days
3.4.2 Instruction for Use

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

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

3.5 Performance specifications

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

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

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

Chapter 4 Installation and wiring
4.1 Parameter & Operation data
Danger
 Please design protection circuit at the external of PLC for entire system to operate safely because an abnormal
output or an malfunction may cause accident when any error of external power or malfunction of PLC module.
(1) It should be installed at the external side of PLC to emergency stop circuit, protection circuit, interlock circuit of
opposition action such as forward /reverse operation and interlock circuit for protecting machine damage such as
upper/lower limit of positioning.
(2) If PLC detects the following error, all operation stops and all output is off.
(Available to hold output according to parameter setting)
(a) When over current protection equipment or over voltage protection operates
(b) When self diagnosis function error such as WDT error in PLC CPU occurs
 When error about IO control part that is not detected by PLC CPU, all output is off.
Design Fail Safe circuit at the external of PLC for machine to operate safely. Refer to 4.1.1 Fail Safe circuit.
(1) Because of error of output device, Relay, TR, etc., output may not be normal. About output signal that may cause
the heavy accident, design supervisory circuit to external.
When load current is more than rating or over current by load short flows continuously, danger of heat, fire may occur
so design safety circuit to external such as fuse.
Design for external power supply to be done first after PLC power supply is done. If external power supply is done
first, it may cause accident by misoutput, misoperation.
In case communication error occurs, for operation status of each station, refer to each communication manual.
In case of controlling the PLC while peripheral is connected to CPU module, configure the interlock circuit for system
to operate safely. During operation, in case of executing program change, operation status change, familiarize the
manual and check the safety status. Especially, in case of controlling long distance PLC, user may not response to
error of PLC promptly because of communication error or etc.
Limit how to take action in case of data communication error between PLC CPU and external device adding installing
interlock circuit at the PLC program.

Danger
Don’t close the control line or communication cable to main circuit or power line. Distance should be more than 100mm.
It may cause malfunction by noise.
In case of controlling lamp load, heater, solenoid valve, etc. in case of Off -> On, large current (10 times of normal
current) may flows, so consider changing the module to module that has margin at rated current.
Process output may not work properly according to difference of delay of PLC main power and external power for
process (especially DC in case of PLC power On-Off and of start time.
For example, in case of turning on PLC main power after supplying external power for process, DC output module may
malfunction when PLC is on, so configure the circuit to turn on the PLC main power first
Or in case of external power error or PLC error, it may cause the malfunction.
Not to lead above error to entire system, part causing breakdown of machine or accident should be configured at the
external of PLC

4.1.1 fail safe circuit

(1) example of system design (When ERR contact point of power module is not used)
In case of AC In case of AC . DC
Power
Power
Check direct Trans Trans

Trans
current Fuse Fuse
Fuse
Signal input
DC power
F0045
Pm
Pm 9
Fuse
F009C
F009C Pm Timer setting
Pm
Start
PLC RUN output Pm which DC input
Program
switch
Start available as RA1 Tm signal is
configured.
Stop
SW Input module
Start Program
switch
Output module Stop Voltage relay

SW
Output for warning equipped
Pm
(Lamp or buzzer)
Pn
RUN by F009C Pm
Power off to output

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

(2) Fail Safe Measures in case of PLC failures

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

[Fail safe circuit example]
On delay timer
P200 T1
F0093 Off delay timer
P200 T2
External load MC
P201 L
~
P20F L
P200
24V
- +
0.5s 0.5s 0V
T1 T2 DC24V
MC
CPU unit Output module
Since P200 turn on/off every 0.5s, use TR output.

4.1.2 PLC heat calculation
(1) Power consumption of each part
(a) Power consumption of module

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

The DC5V output circuit power of the power module is the sum of power consumption used by each module.
• W5V = I5V X 5 (W)
(c) DC24V average power consumption(power consumption of simultaneous On point)

The DC24V output circuit’s average power of the power module is the sum of power consumption used by each module.
• W24V = I24V X 24 (W)
(d) Average power consumption by output voltage drop of the output module(power consumption of simultaneous On point)
• Wout = Iout X Vdrop X output point X simultaneous On rate (W)
Iout : output current (actually used current) (A)
Vdrop: voltage drop of each output module (V)
I24V
DC24V
Main unit Comm. Comm. output input Special input
AC power
100V~240V DC5V I5V
constant
Voltage
transformer
Iout Iin
load
AC power
DC 100V~240V
power
24V

(e) Input average power consumption of input module

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

• WS = I5V X 5 + I24V X 24 + I100V X 100 (W)
The sum of power consumption calculated by each block is the power consumption of the entire PLC system.
• W = WPW + W5V + W24V + Wout + Win + Ws (W)
Calculate the heats according to the entire power consumption(W) and review the temperature increase within the control
panel.
The calculation of temperature rise within the control panel is displayed as follows.
T = W / UA [C]
W : power consumption of the entire PLC system (the above calculated value)
A : surface area of control panel [m2]
U : if equalizing the temperature of the control panel by using a fan and others : 6
If the air inside the panel is not ventilated : 4
If installing the PLC in an air-tight control panel, it needs heat-protective(control) design considering the heat from the PLC as well
as other devices. If ventilating by vent or fan, inflow of dust or gas may affect the performance of the PLC system.
2 기본 파라미

4.2 Attachment/Detachment of Modules

Here describes about basic parameter of embedded positioning.
4.2.1 Attachment/Detachment of modules

Caution in handling
Use PLC in the range of general specification specified by manual.
In case of usage out of range, it may cause electric shock, fire, malfunction, damage of product.
Remark
 Module must be mounted to hook for fixation properly before its fixation.
The module may be damaged from over-applied force. If module is not mounted properly, it may cause malfunction.
 Do not drop or impact the module case, terminal block connector.
 Do not separate PCB from case.
(1) Equipment of module

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

•Push up the Hook For Disconnection, and then detach the product with two hands.
(Do not detach the product by force)
Remark
 When separating module, do not apply excessive force. If so, hook may be damaged.
-If used outside the range, electric shock, fire, malfunction, or damage to the product may cause damage.

(3) Installation of module

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

• Pull the hook as shown below for DIN rail at the bottom of module and install it at DIN rail
• Push the hook to fix the module at DIN rail after installing module at DIN rail
HOOK for DIN rail
(b) In case of installing at panel
• You can install ML50 compact type main unit onto a panel directly using screw hole
• Use M4 type screw to install the product onto a panel.
Panel
2-Ø4.5 screw hole

(4) Module equipment location

Keep the following distance between module and structure or part for ventilation, easy detachment and attachment.
30㎜ or above *1
Panel
PLC
20㎜or above*3
30㎜or above*1
5㎜ or above*1 5㎜ or above
*1 : In case height of wiring duct is less than 50 mm (except this 40mm or more)
*2 : In case of equipping cable without removing near module, 20mm or more
*3 : In case of connector type, 20mm or above

(5) Module equipment direction

(a) For easy ventilation, install as shown below.
(b) Don’t install as shown below.

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

4.2.2 Caution in handling

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

It describes caution in handling IO module.
(a) Recheck of IO module specification

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

When selecting wire, consider ambient temp, allowed current and minimum size of wire is AWG22(0.3mm2) or above.
(c) Environment
In case of wiring IO module, if device or material that induce high heat is too close or oil contacts wire too long time, it may
cause short, malfunction or error.
(d) Polarity
Before supplying power of module which has terminal block, check the polarity.
(e) Wiring
• In case of wiring IO with high voltage line or power line, induced obstacle may cause error.
• Let no cable pass the IO operation indication part (LED).
(You can’t discriminate the IO indication.)
• In case induced load is connected with output module, connect the surge killer or diode load in parallel. Connect cathode of
diode to + side of power.
OUT Induced load
Output module
Surge killer
COM
OUT Induced load

+
Output module
Diode -
COM
(f) Terminal block

Check close adhesion status. Let no foreign material enter into PLC when wring terminal block or processing screw hole as it
may cause malfunction, it may cause malfunction.
(g) Don’t impact IO module or don’t disassemble the PCB from case.

4.3 Wire
In case using system, it describes caution about wiring.
Danger
When wiring, cut off the external power.
If all power is cut, it may cause electric shock or damage of product.
In case of flowing electric or testing after wiring, equip terminal cover included in product. It not, it may cause electric shock.
Remark
 Do D type ground (type 3 ground) or above dedicated for PLC for FG and LG terminal. It may cause electric shock or
malfunction.
 When wiring module, check the rated voltage and terminal array and do properly.
If rating is different, it may cause fire, malfunction.
 For external connecting connector, use designated device and solder.
If connecting is not safe, it may cause short, fire, malfunction.
For screwing, use designated torque range. If it is not fit, it may cause short, fire, malfunction.
Let no foreign material enter such as garbage or disconnection part into module. It may cause fire, malfunction, error.
4.3.1 Power wiring

(1) AC110V/AC220V/DC24V cables should be compactly twisted and connected in the shortest distance
(2)DC Power supply capacity should be 1A or more

(3) Isolate the PLC power, I/O devices and power devices as follows.
(4) AC110V/AC220V cable should be as thick as possible(2mm2) to reduce voltage drop

(5) AC110V/ DC24V cables should not be installed close to main circuit cable(high voltage/high current) and I/O signal cable. They
should be 100mm away from such cables
(6) When noise may be intruded inside it, use an insulated shielding transformer or noise filter.
(7) To prevent surge from lightning, use the lightning surge absorber as presented below.
(8) Wiring of each input power should be twisted as short as possible and the wiring of shielding transformer or noise filter should not
be arranged via a duct.
PLC
I/O device
E1 E2
Surge absorber to prevent lighting
Remark
(1) Isolate the grounding(E1) of lightning surge absorber from the grounding(E2) of the PLC.
(2) Select a lightning surge absorber type so that the max. voltage may not the specified allowable voltage
of the absorber.

4.3.2 I/O Device wiring
(1) The size of I/O device cable is limited to 0.3~2 mm2 but it is recommended to select a size(0.3 mm2) to use conveniently.
(2) Please isolate input signal line from output signal line.
(3) I/O signal lines should be wired 100mm and more away from high voltage/high current main circuit cable.
(4) Batch shield cable should be used and the PLC side should be grounded unless the main circuit cable and power cable can not
be isolated.
PLC Shield cable

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

(6) Example of input module.
(7) Example of output module.

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

resistor
P20
P2B
DC12/24V
P
DC24V
OUT
COM
When using Positioning instruction, out current should be 10mA~100mA
List Description
Load Voltage DC12V / DC24V
Range of Load current 10mA ~100mA
Output frequency 200kpps or below

4.3.3 Grounding wiring
(1) The PLC contains a proper noise measure, so it can be used without any separate grounding if there is a large noise. However, if
grounding is required, please refer to the followings.
(2) For grounding, please make sure to use the exclusive grounding.
For grounding construction, apply type 3 grounding(grounding resistance lower than 100 )
(3) If the exclusive grounding is not possible, use the common grounding as presented in B) of the figure below.
PLC Otherdevices PLC Otherdevices PLC Otherdevices
Type 3 Grounding Type 3 Grounding

제3종 접지
A) Exclusive grounding : best B) common grounding : good C) common grounding: defective
(4) Use the grounding cable more than 2 mm2. To shorten the length of the grounding cable, place the grounding point as close to
the PLC as possible.
(5) If any malfunction from grounding is detected, separate the FG of the base from the grounding.
4.3.4 Specifications of wiring cable
The specifications of cable used for wiring are as follows.
Types of external Cable specification (mm2)

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

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

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

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

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

5.3 Periodic Inspection

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

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

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

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

Observe any change in the error conditions during the following.
• Switch to the STOP position, and then turn the power on and off.
(3) Narrow down the possible causes of the trouble where the fault lies, i.e.:
• Inside or outside of the PLC ?
• I/O module or another module?
• PLC program?
6.2 Troubleshooting
This section explains the procedure for determining the cause of troubles as well as the errors and corrective actions.
Symptoms
Is the power LED turned Flowchart used when the POWER LED is turned Off.
Off ?
Is the ERR LED flickering ? Flowchart used when the ERR LED is flickering.
Are the RUN, STOP Flowchart used when the RUN, STOP turned Off.
LED turned
Off ?
I/O module doesn’t operate flowchart used when the I/O part doesn’t operate normally.
properly.
Program cannot be written. Flowchart used when a program can’t be written to the PLC.

Chapter 6 Trouble Shooting
6.2.1 Troubleshooting flowchart used when the PWR (Power) LED turns Off
The following flowchart explains corrective action procedure used when the power is supplied or the power
LED turns Off during operation.
Power LED is turned Off.
Is the power supply No

operating? Supply the power.
No Yes
Yes Does the power LED
turns On?
No
Is the voltage within the rated Supply the power properly.
power?
Yes
Yes Yes
Does the power LED
turns On?
Over current protection

device activated?
1) Eliminate the excess current

2) Switch the input power Off then On.
No
No Yes
Does the power LED
turns On?
Write down the troubleshooting

Questionnaire and contact
the nearest service center.
Complete

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

connected XG5000.
No
See Appendix 1 Flag list and

Warning error?
remove the cause of the
error.
Yes
No
Is ERR LED still
flicking ?
Complete Yes
Write down the Troubleshooting

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

6.2.3 Troubleshooting flowchart used with when the RUN , STOP LED turns Off.
The following flowchart explains corrective action procedure to treat the lights-out of RUN LED when the
power is supplied, operation starts or is in the process.
RUN, STOP LED is Off.
Turn the power unit Off and On.
No
Is RUN/ STOP LED Off?
Yes
Write down the Troubleshooting

Questionnaires and contact the nearest Complete
service center.

6.2.4 Troubleshooting flowchart used when the I/O part doesn’t operate normally.
The following flowchart explains corrective action procedure used when the I/O module doesn’t operate normally.
When the I/O module doesn’t work normally.
No
Is the output LED of SOL1
On?
Yes
Measure the voltage of Correct wiring. Replace the connector of Check the status of SOL1
the terminal block.
terminal in SOL1 by Tester. by XG5000.
No No
Is the No
Yes Yes
Is the output terminal connector Is it normal condition?
Is the measured value
normal? wiring correct? appropriate?
Yes
Yes
Yes
Separate the external

wiring than check the
condition of output Continue
module.
Yes No
Is it normal condition?
Check the status of Replace the Unit

SOL1.

Continue
No
Are the indicator LED of the
switch 1 and 2 on?
Yes
Check voltage of switch 1,2 by Check voltage of switch 1,2 by

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

Is input wiring correct? of the terminal board connector
appropriate?
Separate the external No No

wiring witch then check
the status by forced
input
Correct wiring Retighten the Replace the

Is the measured value terminal screw. Terminal board
No normal? connector.
Yes .
Input unit Check the status of the Check from the beginning. Input unit
replacement is switch 1 and 2. replacement is
Needed. Needed.

6.3 Troubleshooting Examples

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

The followings describe possible troubles with input circuits, as well as corrective actions.
Condition Cause Corrective Actions

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

doesn’t turn off.  Locate the power supply on the external device side
as shown below.
AC input AC input
Leakage current
~ ~
External device External device
 Connect an appropriate register, which will make the

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

 Use only one power supply.

Input signal  Sneak current due to the use of two different power  Connect a sneak current prevention diode.
doesn’t turn off. supplies.
DC input
DC input
E L
1 L E1 E
E 2
2
 E1 > E2, sneaked.
6.4.2 Output circuit and corrective actions

The following describes possible troubles with output circuits, as well as their corrective actions.
Condition Cause Corrective Action
When the output is Load is half-wave rectified inside (in some cases,  Connect registers of tens to hundreds KΩ across the
off, excessive it is true of a solenoid) load in parallel.
voltage is applied When the polarity of the power supply is as shown
R
to the load. in ①, C is charged. When the polarity is as shown in
②, the voltage charged in C plus the line voltage are
D
applied across D. Max. voltage is approx. 2√2.
C
R ~
Load

C D
~
R Load

*) If a resistor is used in this way, it does not pose a

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

When the load is C-  Leakage current by surge absorbing circuit, which  Drive the relay using a contact and drive the C-R type
R type timer, time is connected to output element in parallel. timer using the since contact.
constant fluctuates.  Use other timer than the CR contact some timers
Output
have half-ware rectified internal circuits therefore, be
Load
C cautious. Timer
R ~ T
Leakage current
Output X
~
The load does not  Sneak current due to the use of two different  Use only one power supply.
turn off. power supplies.  Connect a sneak current prevention diode.
Output Output
Load
Load
E1 E
E2 E 1
2
If the load is the relay, etc, connect a counter-
E1<E2, sneaks. E1 is off (E2 is on), sneaks. electromotive voltage absorbing code as shown by the
dot line.
;
Output circuit troubles and corrective actions (continued).
Condition Cause Corrective actions
The load off  Over current at off state [The large solenoid  Insert a small L/R magnetic contact and drive the
response current fluidic load (L/R is large) such as is load using the same contact.
time is long. directly driven with the transistor output.
Output Output
Off current
Load
E1 Load
 The off response time can be delayed by one or

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

Output Surge current of the white lamp on.  To suppress the surge current make the dark
transistor is current of 1/3 to 1/5 rated current flow.
destroyed.
Output
Output
R E
1
E1
Sink type transistor output
Output
A surge current of 10 times or more when turned

on. R
E
1
Source type transistor output

6.4 Error Code List

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

0.5 second RUN mode
30 and the installed module modify the module or parameter and then restart. Warning
Flicker switching
does not match
Module falling during After checking the position of
0.1 second
31 operation or additional attachment/detachment of expansion module Heavy error Every scan
Flicker
setup during Run mode
Data of I/O module does After checking the position of slot where the
0.1 second
33 not access normally during access error occurs by XG5000, change the Heavy error Scan end
Flicker
operation. module and restar (acc.to parameter.)
Normal access of
After checking the position of slot that access error
special/link module 0.1 second
34 occurred by XG5000, change the module and Heavy error Scan end
data during operation not Flicker
restart (acc.to parameter).
available
RUN
Extension Extension module is attached over 10 slot or 0.1 second
38 Heavy error mode
Module exceed communication module is attached over 3 slot Flicker
switching
Abnormal system end by noise or hard ware error.

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

Error
code Action Operation LED Diagnosis
Error cause
(restart mode after taking an action) status status point
(Dec)
Operation error
Remove operation error → reload the program While
occurs while 0.5 second
41 and restart. Warning running the
running the user Flicker
program
program.
Timer index user After reloading a timer index program modification, 0.5 second
44 Warning Scan end
error start Flicker
Heavy error of Refer to Heavy error detection flag and modifies 0.5 second
50 Warning Scan end
external device the device and restart. (Acc. Parameter) Flicker
1 second
55 Task confliction Check task occurrence Warning Every time
Flicker
While
E_STOP function After removing error causes which starts E_STOP 1 second
60 Warning running the
executed function in program, power reinput Flicker
program
Data memory backup not If not error in battery, power reinput 1 second
500 Warning Reset
possible Remote mode is switched to STOP mode. Flicker
1second Ordinary
501 Abnormal clock data Setting the time by XG5000 if there is no error Warning
Flicker time

Chapter 7 EMC Standard

The following explains contents, diagnosis and corrective actions for various errors that can occur during system operation.
7.1 Requirements for Conformance to EMC Directive

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

The standards applicable to the EMC Directive are listed below.
Table13-1
Specification Test item Test details Standard value

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

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

7.1.2 Control Panel

The PLC is an open type device (device installed to another device) and must be installed in a control panel. This is
needed to prevent electric shock by touching ML50 PLC and reduce the PLC-generated noise. Install the ML50 PLC
in a metallic panel to reduce PLC-generated EMI (Electro-magnetic interference),
The specifications for the control panel are as follows:
(1) Control panel
The PLC control panel must have the following features:
(a) Use SPCC (Cold Rolled Mild Steel) for the control panel.
(b) The steel plate should be thicker than 1.6mm.
(c) Use isolating transformers to protect the power supply from external surge voltage.
(d) The control panel must have a structure which the radio waves does not leak out.
For example, make the door as a box-structure so that the panel body and the door are overlapped each other. This
structure reduces the surge voltage generate by PLC.
Panel body
Door
Seal
(e) To ensure good electrical contact with the control panel or base plate, mask painting and weld so that good
surface contact can be made between the panel and plate.

(2) Connection of power and earth wires
Earthing and power supply wires for the PLC system must be connected as described below.
ferrite core
(a) Earth the control panel with a thick wire so that a low impedance connection to ground can be ensured even at high frequencies.
(b) The function of LG (Line Ground) and FG (Frame Ground) terminals is to pass the noise generated in the PLC system to the ground,
so an impedance that is as low as possible must be ensured.
(c) The earthing wire itself can generate the noise, so wire as short and thick to prevent from acting as an antenna.
(d) Attach ferrite core under the power cable to satisfy CE specification.
[ ferrite core]
External Dimension (mm) maximum
cable
manufacture name address
A B C D diameter
(mm)
Laird 28A3851-0A2 30.00 13.00 33.70 30.00 12.85 www.lairdtech.com
Laird 28A5776-0A2 29.20 20.00 42.00 42.00 19.40 www.lairdtech.com
Coilmaster C2L RU130B 31.50 13.00 33.00 31.50 13.00 www.coilmaster.com.tw
TDK ZCAT3035-1330 30.00 13.00 34.00 30.00 13.00 www.tdk.com

7.2 Requirement to Conform to the Low-voltage Directive
The low-voltage directive requires each device that operates with the power supply ranging from 50V to 1000VAC and 75V to 1500VDC to satisfy
the safety requirements. Cautions and installation and wiring of the PLC ML50 series to conform to the low-voltage directive are described in this
section.
The described contents in this manual are based on the requirements and the applicable standards control. However, Honeywell will not
guarantee that the overall machinery manufactured according to the these details conforms to the above regulation. The method of conformance
to the EMC directive and the judgment on whether or not the machinery conforms to the EMC Directive must be determined finally by the
manufacturer of the machinery.
7.2.1 Standard Applied for ML50 Series
The ML50 PLC complies with EN6100-1 (safety of equipment used in measurement and control laboratories.
ML50 series PLCs have been developed in accordance with the above standards for modules operating at rated voltage of AC50V / DC75V
or higher.
7.2.2 ML50 Series PLC Selection

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

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

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

Chapter 1 Configuration and Operation Mode of Programs
Part 2.Basic Fuctions
This Chapter covers the details of programming and operations, monitoring of basic unit
Chapter 1 Program Configuration and Operation Method

1.1 Programming Basics
1.1.1 Programming Method
The basic unit supports programming method of repetitive operation interrupt operation, fixed operation.
(1) Repetitive operation mode (Scan)

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

(2) Interrupt operation mode

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

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

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

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

1.1.2 Execution processing in case of instantaneous interruption

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

execute restart like the time when power is supplied.
The below figure shows the PLC’s execution processing flow chart when instantaneous interruption occurs.
Notice
Instantaneous interruption means the state that the PLC exceeds the allowable variation rage of the specified power
and is lower than the range. The brief (several ms ~ dozens of ms) blackout is called instantaneous interruption.

1.1.3 Scan Time

The scan time is the time that takes to complete a single control operation from step 0 of the full scan program to
step 0 of the next scan; it is directly connected to the system’s control performance.
(1) Scan time formula
The scan time is the sum of the process time of the scan program and interrupt program written by a user and
the PLC’s internal END processing time; it can be calculated by the below formula.
(a) Scan time = scan program processing time＋interrupt program processing time＋PLC internal processing
time
 Scan program processing time = Processing time of the user program excluding the interrupt program
 Interrupt program processing time = Sum of the interrupt program running time processed for 1 scan
 PLC internal processing time = Self-diagnosis time ＋ I/O refresh time ＋ internal data processing time
＋ communication service processing time (processing SoftMaster service and embedded
communication)
MPU processing time Expansion interface processing time
PLC
Analog module
Model Scan program internal Digital I/O module Communication module
(8 channels,
running (32K) Processing (32 points, 1 EA) (200 byte, 1 block)
1EA)
time
MLU-DN32HP 7.2 ㎳ 0.8㎳ 0.3㎳ 2.0㎳ 0.8㎳
MLU ’HP’ unit performs the control operation based on the below sequence. Accordingly, you can estimate the rough control
performance of the system to be designed by using the below calculation method.
I/O processingI/O처리시간
time
Communication
통신 모듈 서비스 module service
System
시스템processing
처리
XG5000 서비스
태스크처리 SoftMaster, Service
Task processing
Basic
기본유닛 unit 래더수행시간
Ladder processing time Ladder processing
래더수행시간
time 스캔시간
Scan time
통신데이터
Comm. data
Output
Input
Expansion
module
증설 모듈 Self-processing
자체처리
입출력모듈
Exchange of I/O module데이터교환
data 통신모듈
Exchange
데이터교환of communication module data
Scan time = Ladder running time + system processing time + digital module I/O processing time + analog I/O
processing time + communication module processing time + SoftMaster Service processing time

(2) Example of calculating the scan time

The example of the PLC’s system configuration and the calculation result of the scan time are as follows.
System Configuration
Items
Basic unit SLOT2 SLOT3 SLOT4 SLOT5 SLOT6 SLOT7 SLOT8
Product
MLU-DN32HP MLE-DC32A * 3EA MLF-AD04A * 2EA MLL-C41A MLL-EMTA
name
Operating 200 Byte per module,
20kStep - -
conditions 1 block
Scan time= Ladder running time + system processing time + digital I/O processing time + analog I/O
processing time + communication module processing time + SoftMaster Service processing time = 7.2 +
0.8 + 0.3*3 + 2.0*2 + 0.8*2 +0.1= 14.6㎳
However, in the event of changing during RUN or writing communication parameters with SoftMaster, it
requires converting the program changed during RUN into executable machine code in the PLC or other
internal processing operations for changed communication parameters so the scan time may be temporarily
increased by several ms or more.
(3) Verification of the scan time

The PLC’s scan time can be verified by using SoftMaster or flag as below.
(a) How to use SoftMaster: Click『Online』-『Diagnosis』-『PLC information』-『Performance』.
(b) How to use flag : The scan time is saved in the below system flag (F) area.
WORD Flag Name Name Description
The longest scan time
F0050 _SCAN_MAX Maximum scan time
(update in case of occurrence only), in 0.1ms
The shortest scan time
F0051 _SCAN_MIX Minimum scan time
(update in case of occurrence only), in 0.1ms
F0052 _SCAN_MAX Current scan time Running time of this scan (scan update), in 0.1ms

1.1.4 Program Composition

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

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

occur
Cycle time 1/ Cycle time 1 execution

external occur
simultaneously
External I/O execution
Internal device
Interrupt occur
Cycle time 2 Cycle time 2 execution

occur
Internal device interrupt

END execution
Cycle time 1 Timed-driven 1
execution execution

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

The types and operation standards of tasks that are available for the high performance small-sized PLC are as
below.
Type External contact Internal contact High speed counter positioning task
Fixed cycle task
Spec. task task task
Maximum
16 EA 8 EA 16 EA 4 EA 1EA
number
Rising or falling edge of

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

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

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

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

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

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

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

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

(Initial operation setup) New scan startup
Execution of
Scan program
Execution of program 1
Occurrence
of 10ms_fixed cycle
Occurrence of
Internal contact M000
Occurrence of
external contact P000
Time
0 6 7 8 10 12 20 22 24 25 30 32 34
Time (㎳) Executed details

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

time (㎳) Executed details

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

You can add initialization tasks in the project window of SOFTMASTER as below and add the programs to be
executed. For more details, refer to the SOFTMASTER manual. (You cannot add tasks on online. After
disconnecting the PLC, add tasks.)
(a) Adding task: Select 『Project』–『Add Items』–『Task』 or after clicking with the right mouse button on
the project name of the project tree, select 『Add Items』-『Task』 as shown in the below figure.
(b) The screen for registering the task will be displayed. Click 『Initialization』 in the execution conditions
and enter the task name.

(c) Click on the right mouse button on the registered task and click 『Add Items』-『Program』.
(d) Make the necessary initialization program and make sure to include the INIT_DONE command to the
initialization task program.
(If the operation conditions of INIT_DONE runs, the initialization task is ended and the scan program runs.)

1.1.7 Fixed cycle task

(a) Adding tasks: Select 『Project』–『Add Items』–『Task』 or after clicking with the right mouse button on
(b) The screen for registering the task will be displayed. Click 『Fixed cycle』in the execution conditions and
after entering the task name, input the items required for setting as below
Items Input range Description

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

(d) Register the task program name and comment.
(e) If the program window for writing the task program is displayed, you can make the task program here.
(2) Instructions to use the fixed cycle task
The corresponding task program with fixed cycle runs at every set time interval (running cycle) and keep
the below instructions in mind.
• When the specific task program with the fixed cycle runs currently or stands by for execution, if the request
on running the same task program occurs, the newly occurred task will be ignored.
• The timer generating the request on running the task program with fixed cycle works only when the
operation mode is RUN mode. Ignore all the blackout time.
• When setting up the running cycle of the task program with fixed cycle, the request on running several task
programs should not occur.
If you apply 4 task programs with the fixed cycle of 2 seconds, 4 seconds, 10 seconds, 20 seconds, 4

execution requests occur simultaneously every 20 seconds and 4 tasks runs at once so the scan time
may be longer momentarily.
1.1.8 External contact task
(b) The screen for registering the task will be displayed. Click 『External contact』in the execution conditions
and after entering the task name, input the items required for setting as below.

Priority 2~7 Designates the priority of tasks.
Task No. 16~23
Contact No. 0~7 Designates the task start contact number.
Starting
rising, falling, transition Sets up starting conditions of tasks.
conditions

(3) Instructions to use the external contact task
When the rising, falling or transition conditions occur in the set input contact, the corresponding external contact task
program runs and keep the below instructions in mind.
• 8 external contacts are available in the range of P0000~P0007.

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

running the same input task program occurs, the newly occurred task will be ignored.
• The input contact monitoring for the external contact tasks is executed only when the operation mode is
RUN mode. The input contact monitoring for task startup is not executed in STOP mode.
• The detection delay time of the external contact task is approximately 50us.
• When designing the system, several external contact tasks should not start at the same time. If P0000 ~
P0007 contacts are ON at the same time under all the external contacts of P0000 ~ P0007 are set as the
external contact tasks, 8 external contact task programs run at one so the scan time may be longer
momentarily.
1.1.9 Internal device task
(b) The screen for registering the task will be displayed. Click 『Internal device』in the execution conditions and after
entering the task name, input the items required for setting as below.

Priority 2~7 Designates the priority of tasks..
Task No. 24~39
Internal device BIT, WORD Selects the device type that will start the task.
Input directly the device that will start the task and set the startup
Device Direct input
conditions.
Rising Starts the task in case of rising edge.
Falling Starts the task in case of falling edge.
Rising, falling, transition, On,
Bit Transition Starts the task in case of rising or falling edge.
Off
On Starts every scan task during ON.
Startup
Off Starts every scan task during OFF.
conditio
Starts the task when the word is less than the set
ns <
value.
Word <, <=, ==, >=, > Starts the task when the word is less than or equal
<=
to the set value.
== Starts the task when the word is the same as the

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

(2) Instructions to use the internal device task
The internal contact task detects the startup conditions of the internal device set by the scan END and runs the
relevant internal device task program. Keep the below instructions in mind.
•The internal device task program runs when the scan program is completed. Accordingly, although the
execution conditions of the internal device task program occur in the scan programs or task programs (fixed
cycle, external contact, high speed counter), it will run at the time of completing the scan program instead of
running immediately.
• In the case of the internal device task, the execution conditions are searched when the scan program is
completed. Accordingly, if the execution conditions of the internal device task occur and dissipate by the scan
program or other task programs, the task will not run since the execution conditions cannot detected at the
time of searching the conditions.
1.1.10 High speed counter task

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

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

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

(c) Adding tasks: Select 『Project』–『Add Items』–『Task』 or after clicking with the right mouse button on
(d) The screen for registering the task will be displayed. Click 『Position control task』 in the execution conditions
and after entering the task name, select the channel.

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

1.2 Operation mode

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

It is the mode executing the program normally.
First scan of
RUN mode
Data area initializat ion
Program validat ion check
excute? No
Refresh the input image

ERROR mode
area
Keep Program exe cut ion

RUN mode Inte rrupt exe cut ion
Che ck the opera ting s tate

and failure of ex pansion
modules
Refresh the output ima ge

area
Change
operation mode?
Mode change
(1) When changing the mode from other into RUN

Initialize the data area at the beginning stage and check the validity of the program to determine whether it can
be executed or not.
(2) Execution processing details

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

1.2.2 STOP Mode
It is the mode of block state without operations of the program. In STOP mode, you can write the programs and
parameters through SOFTMASTER.
(1) When changing the mode from other into STOP

Eliminate the output image area and execute Output Refresh.
(2) Execution processing details

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

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

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

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

 It describes debug mode.

Item Description Remark

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

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

▪ Sets breakpoint at current cursor position. After breakpoint setting, (breakpoint setting indicator) is displayed.
(b) Go
▪ Run the program to breakpoint. At break-pointer (stop indicator) is displayed.

(c) Step Over

▪ Run the program to next step. Step over indicator is displayed.
(d) Breakpoint List

▪ It displays current Breakpoint List. It supports Select All, Reset All, Goto, Remove, Remove All.
(e) Break condition

▪ It sets Device Break and Scan Break.

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

1.2.4 Change of operation modes
(1) How to change operation modes

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

The following operation modes are set by the mode setting key of the basic unit and SOFTMASTER’s commands.
SOFTMASTER
Operation mode switch Operation mode Remarks
command
When the operation mode switch is
located in RUN position, the mode
RUN Unchangeable Local RUN
change by SOFTMASTER is
impossible.
RUN remote RUN
STOP STOP remote STOP
Debug Debug
RUN STOP - STOP
(a) The mode change by SOFTMASTER is available only when the operation mode switch is in STOP state.
(b) If you want to change the mode into ‘STOP’ with a switch in the remote RUN state by SOFTMASTER,
operate
the switch as STOP RUN  STOP.
Notice
▪In case the mode is changed into RUN by a switch in the remote RUN mode, the PLC is operates continuously
without intermission.
▪ Modificaiton is possible during run in the RUN mode by a switch but the mode change operaitons through SOFTMASTER
are
restricted. Only when mode change is not allowable in a remote site, set the mode switch in RUN position.

1.3 Memory
1.3.1 Data memory
(1) Bit device area

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

Purpose
by device devices
It is the area keeping the internal data. It also can be expressed as

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

1.3.2 Memory block diagram

1.3.3 Setup of the data latch area

If you want to keep and use the data required for operations or data generated during operations even when the
PLC restarts after the stoppage, ‘data latch’ can be applied. You can use the certain areas of some data devices as
the latch areas by setting parameters.
•You can set up the latch range for the below devices by parameters.
Device Latch area 1 Latch area 2 Characteristics

P X X Image area saving the I/O contacts state
M O O Internal contact area
K X X Contacts that keep the contact state during blackout.
F X X System flag area
T O O Area related to the timer ( For both bit/word )
C O O Area related to the counter (For both bit/word)
S O O Relay for step control
D O O Area saving general word data
U X X Analog data register (Not latched)
High speed link/P2P service state contacts of the communication
L X X
module (Not latched)
N X X Communication module’s P2P service address area (latched)
Z X X Register for index only (Not latched)
R X X File register (latched)
Notice
▪K, N, R devices can be basically latched without setting parameters.

▪ P, U, Z devices cannot be latched.
(1) How to set up the latch area

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

(2) Operation of the data latch area

(a) The device set as the latch area keeps the previous data without initialization when the power is recovered
after cutting the power supply of the PLC.
(b) You can delete the latched data in the following ways.
- Deleting latch1, latch 2 with SOFTMASTER
- Writing with the program (The initialization program is recommended)
- Inputting 0 in the window of SOFTMASTER monitor
Refer to the below table for Maintaining or Reset (clear) operation of the latch area data depending on the
PLC operations.
No. Operations Detailed operations latch1 latch2 Remarks
1 Power On/Off On / Off Maintain Maintain
2 Reset by SOFTMASTER Overall Reset Reset Maintain
3 Write program (online) - Maintain Maintain
Broken SRAM due to (breakdown of a
Reset Reset
4 Broken backup data battery, etc.)
Broken data due to other reasons Reset Reset
Latch 1 Clear Reset Maintain
5 SOFTMASTER online
Latch 2 Clear Reset Reset
(c) If you click『Online』-『 Reset/Clear 』-『 Reset PLC 』-『Overall Reset』, the latch 1 area will be
cleared.

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

If you click ‘Delete’ in the memory area, the memory of all devices will be deleted as ‘0’. So this function can be
used when you want to delete the certain area of the device at once.
(a) After selecting 『Online』-『 Reset/Clear 』-『Clear PLC 』-『 Clear Memory 』, if you set up the
area to be deleted and click “Delete”, the device area will be cleared.

Chapter 2 CPU Function

2.1 Type Setting
This section descries setting ML50 PLC models.
PLC
CPU Type Language Description Remarks
Name
Economic : MLI-DR10/14/20/30E
ML50-MLIE IEC language MLI-DN10/14/20/30E, Compact type
MLI-DP10/14/20/30E
Compact type
Deluxe: MLI-DR32/64H, MLI-DN32/64H
ML50-MLIH IEC language (DC power PLC
MLI-DP32/64H
included)
Standard : MLI-DR20/30/40/60SU,
ML50-MLISU IEC language Compact type
ML50 MLI-DN20/30/40/60SU
IEC61131 High performance :
Compact type
MLI-DN32U, MLI-DN32UP, MLI-DN32UA
ML50-MLIU IEC language (DC power PLC
MLI-DP32U, MLI-DP32UP, MLI-DP32UA
included)
MLI-DR28U, MLI-DR28UP, MLI-DR28UA
ML50-MLUH2 IEC language Deluxe 2axis XPM positioning: MLU-DN32H2

Modular type
ML50-MLUHP IEC language Deluxe 6axis XPM positioning : MLU-DN32HP
2-2-1 ML50 MLU-DN32HP User’s Manual

2.2 Parameter Setting

This section describes ML50 PLC’s parameter setting.
2.2.1 Basic parameter setting

If you click the basic parameter in the project window, the below screen will be displayed.
You can set up 3 items; ‘Basic operation setting’, ‘Device area setting’, ‘Error operation setting’.
Classification Items Descriptions Set values

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

2.2.2 I/O parameters Setting

It is the function to set up and reserve the information for each I/O. If you click 『I/O Parameter』in the project window,
the below setting window will be displayed.
If you click the 『Module』in the 『slot』 position, the list of each module will be displayed. Then, choose the module
that is matched with the actual system to be configured. The selected slot will be displayed as below.

If you press 『In Detail』button on the slot image or the relevant slot position in the base window as below, the
window for setting the filter, emergency output will be displayed.
Notice
• In case each set details are different from the actually accessed I/O module, ‘Module Type Mismatch Error’ occur and
the error will be displayed.
• If there is no setting, the CPU reads each I/O module’s information for operation.

2.3 Self-Diagnosis Function

The Self-Diagnosis function is the function for the CPU part to diagnose the PLC system for defects. In case errors occur
during supplying the power to the PLC system or during operation, it detects errors to prevent malfunction of the system and
preventive maintenance.
2.3.1 Scan Watchdog timer (Scan Watchdog Timer)
The WDT (Watchdog Timer) is the function to detect the congestion of programs caused by PLC module’s hardware or
software.
(1) The Watchdog timer is the timer to be used to detect operation delay caused by the user program error. You can
set up the Watchdog timer’s detection time in SoftMaster’s basic parameters as below (Initial value: 500ms).
(2) The Watchdog timer monitors the scanning time during operation and when set detection time is exceeded, it
stops the PLC’s operations immediately. At this time, the output status is maintained or cleared based on the
details of ‘Output Hold when errors occur’.
(3) If it is expected that the Scan Watchdog Time is exceeded since it takes more time to process the specific part of
the user programs (in case of using FOR ~ NEXT command, CALL command, etc.), clear the Watchdog timer
through the ‘WDT_RST’ command.
The ‘WDT_RST’ command initializes the scan Watchdog time and restarts measuring time from 0.
WDT
Set value
WDT Count value WDT Count value
Set by 0
Execute WDT
Scan END
1 Scan
(Example of initializing scan Watchdog timer through the WDT command )
(4) In case the Watchdog error occurs, you can clear the error by resupplying the power or converting the mode into
STOP.

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

Error/Warning Displays the current Error/Warning. -
Error history Displays Error/Warning occurred in order of time. Saving up to 100
Notice
If you click ‘Delete’ in the Error/Warning window, all the saved error history will be deleted.
In case the error histories exceed 100EA, the histories are deleted in order from the one that occurred first and the
100EA recent histories are saved
2.3.3 Failure Management

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

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

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

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

It is the failure occurred when the actual PLC’s module configuration is not matched with the module configuration
set in SoftMaster. The system will be stopped.
• Computational error during execution of user programs

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

The failure of the external control device can be detected by the PLC’s user program; in case of detecting failures,
the system will be stopped; in case of detecting minor failures, only the detection status will be displayed and the
operation will be continued. (For the detailed use of the function to detect external device’s failures, refer to the
2.3.5 Failure Diagnosis Function for the External Device.)
The information on failures occurrence is saved in the special relay (F area). Among F area flags, the information
related to the failures are as below.
Word Bit Flag Name Function Description
%FW0 %FX2 _ERROR ERROR ERROR status
- _CNF_ER System error Reports the failure status of the system.
%FX33 _IO_TYER Module type error The module type is not matched.
%FX34 _IO_DEER Module separation error The module is separated.
There are some problems with the module
%FX36 _IO_RWER Module I/O error
I/O.
There are some problems with the special /
%FX37 _IP_IFER Module interface error
communication module interface.
Failures are detected from the external
%FX38 _ANNUM_ER External device failure
device.
There are some problems with the basic
%FX40 _BPRM_ER Basic parameters
parameters.
%FW2~3
There are some problems with I/O
%FX41 _IOPRM_ER IO parameters
parameters.
Special module
%FX42 _SPPRM_ER Abnormal special module parameters
parameters
Communication module Abnormal communication module
%FX43 _CPPRM_ER
parameters parameters
%FX44 _PGM_ER Program error There are some errors with the program.
There are some errors with the program
%FX45 _CODE_ER Code error
code.
%FX46 _SWDT_ER System Watch dog The system Watchdog works.
%FX48 _WDT_ER Scan Watch dog The scan Watchdog works.

Word Bit Flag Name Function Description

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

2.3.4 Function to check the expansion module

It is the function to check whether I/O modules work normally during startup and operation. It checks the status of every scan
expansion module and the PLC checks whether the following situations occur.
• In case the module that is different from the set parameter is installed at the time of initial operation or failure is suspected
• In case expansion modules are detached or failure is suspected.
If abnormal conditions are detected, the basic unit’s ERR LED will be flickering and the PLC will be stopped.
2.3.5 Failure Diagnosis Function for the External Device

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

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

The following flag types are used to diagnose failures of external devices.
Word Bit Flag Name

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

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

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

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

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

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

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

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

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

(c) Example of changing the clock data through programs

You can change the clock data through the programs as below.
Function Block Variable Description

REQ Executes the function with rising pulse input
DATA TIME data to input
DONE Without an error, it is 1
STAT If an error occurs, an error code is written
Variable Content Example Variable Content Example

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

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

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

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

The RTC’s error is different depending on the service temperature.
temperature max error(sec/day) normal condition(sec/day)
0℃ -4.67 ~ 1.56 -1.55
25℃ -3.11 ~ 1.96 0.58
55℃ -10.37 ~ -1.56 -5.97
Notice
• The clock data may not be stated in the shipped product so you need to set up the clock data correctly before use.
• If you write unserviceable clock data in the RTC, it will not work properly.
Ex.) 25:00, 32th, 14 month
• In case the RTC stops or error occurs due to a battery failure, if you write the new clock data in the RTC, the error
will be cleared.


2.5 Remote Function

In ML50 basic unit, you can change the operation mode through the key switch attached to the module or through
communication. For remote operation, put the basic unit’s mode change switch on STOP position.
(1) The kinds of remote operations are as below.

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

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

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

•It is the function to reset the CPU module by remote control when errors occur.
•'Reset' and ‘Overall Reset’ are available.
Notice
• For more details on how to operate the remote functions, refer to ‘Chap.10 Online’ of the SoftMaster manual.

2.6 I/O forced On/Off Functions

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

Click『Online』-『 Forced I/O setting 』.
The below table represents the items related to the forced I/O setting.
Item Description Remarks

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

2.6.2 Time to process the forced I/O On / Off and processing method
(1) Forced input

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

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

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

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

2.7 Direct I/O Operation Function

I/O contact’s Refresh is executed after the scan program is finished. Accordingly, the data of the I/O contact that changes
during execution of programs is refreshed to the I/O data of when the END command is executed instead of being
refreshed when the data changes.
If you need to immediately refresh the I/O data during execution of the program, through DIFEC_IN, DIREC_OUT’
command, you can directly read the input contact status for operation or can directly print out the operation results in the
output contact.
Block Variable Contents
EN When EN=1 Function execute
BASE Base number (ML50= 0)
SLOT Output module slot number
MASK_L Set non-update bit among lower 32bit
MASK_H Set non-update bit among higher 32bit
ENO When no error, ENO=1
OUT When updating output data is finished OUT=1
The below figure indicates the example of the direct I/O operation through the DIFEC_IN, DIREC_OUT command.
(1) Input base number 0 and slot number 4 where output module is equipped
(2) Since data to output is 16 bit during scan, enable lower 16 bit among value of MASK_L (16#FFFF0000)
(3) If execution condition (%IX0.0.0) is On, DIREC_O (Immediate refresh of output module) is executed and data of output module
is set as 2#0111_0111_0111_0111.
Notice
• When writing/Reading DIREC_IN,DIREC_OUT in expansion module, it takes 1~2ms times
- Possibility of Task collision o when using cyclic task or internal task. Which operates in short term of
between two input signal.
• For more information refer to XGI/ML50 Instruction manual.

2.8 Function saving the operation history

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

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

It saves the information on the changed mode and time when changing the operation mode.
• It saves the data, time, mode conversion details.
2.8.3 Power down history

On or Off time of the power is saved as the ON/OFF information.
• ON/OFF information, date and time are saved.
2.9.4 System history

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

2.9 How to allocate I/O No.

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

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

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

2.10 Program Modification during operation (Modification during RUN)

You can modify the programs and communication parameters without stopping control operations during running the
PLC. The below describes the basic modification method. For more details on Modification during RUN, refer to the
SoftMaster manual.
The items that can be modified during RUN are limited to programs, network parameters.
You cannot modify adding tasks, deletion, parameters, etc. during RUN.
2.10.1 Modification Procedures during RUN
(1) It shows the currently running program.
(2) Click『Online』-『Start Modification Online Editing』.

(3) Then, the background color of the program window changes and it is converted into the mode of modification during
RUN.
(4) You can modify the program.
(5) When the modification of the program is completed, click 『Online』-『Write Modified Program』
(6) When Write Program is completed, click 『Online』-『End Online Editing』.

(7) The background color of the program window changes into the original one and modification during RUN is
completed.
Notice
• For Modification of communication parameters during RUN, after changing the network configuration items of
SoftMaster in the RUN status without going into the Modification during RUN menu, click 『Online』-『Write』
and choose ‘Network Parameter’ to execute Write.

2.11 Read I/O information

I t is the function to monitor each module’s information comprising the ML50 PLC system.
(1) If you click 『Online』-『I/O Information』, the information of each module of connected systems will be monitored.
(2) If you click ‘Detailed Information’ after choosing the module, the details on the module will be displayed.

2.12 Monitoring Functions

It is the function to monitor the ML50 PLC system’s general information.
(1) If you click 『Monitor』, the submenu will be displayed as below.
(2) The below table provides the descriptions on each item.

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

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

(b) Device monitor

It is the monitoring function by device.
(c) Monitor suspension setting

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

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

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

2) Establish the basic settings and related device.

In case the rising edge of %MX0 device occur, the Alarm message “Tank 1 Error-> Check” is recorded with the
then values of %MW100 and auto variable “DATA” devices.
3) Set up the associated device.
4) It monitors the user event history.

5) If you double-click the occurrence number, the detailed value of the device at the time of occurrence will be
monitored with the details as below.
Notice
• For more details on the monitor, refer to the SoftMaster manual.

2.13 Function to delete all of the PLC

The function to delete all of PLC is the initialization function to delete all programs, parameters, passwords, data stored
in the PLC.
(1) How to delete all of PLC
(a) Click『Online』-『Delete all of PLC 』.
(b) If you choose 『Yes』 in the dialog box, the window for selecting the connection method with the PLC to be
deleted is created.
(c) After choosing the connection method with the PLC to be deleted, if you click 『Access』or 『OK』, all
PLC programs, parameters, data, passwords will be deleted.
Notice
• Although the initial PLC is not connected, the function is executed. You can connect to the PLC after assess
setting.
• If you use the function to delete all of PLC, all PLCs’ internal data including passwords will be completely deleted
so be careful of this.
• If you use the function to delete all of PLC when the password is lost, it is possible to connect to the PLC so you
can reuse the PLC.

Chapter 3 Input/Output Specifications

3.1 Introduction
Here describes the notices when selecting digital I/O module used for ML50 series.
(1) For the type of digital input, there are two types such as current sink input and current source input.
(2) The number of max. Simultaneous input contact point is different according to module type. It depends on the input
voltage, ambient temperature. Use input module after checking the specification.
(3) When response to high speed input is necessary, use interrupt input contact point. Up to 8 interrupt points are
supported.
(4) In case that open/close frequency is high or it is used for conductive load open/close, use Transistor output module or
triac output module as the durability of Relay Output Module shall be reduced.
(5) For output module to run the conductive (L) load, max. open/close frequency should be used by 1second On, 1
second Off.
(6) For output module, in case that counter timer using DC/DC Converter as a load was used, Inrush current may flow in a
certain cycle when it is ON or during operation. In this case, if average current is selected, it may cause the failure.
Accordingly, if the previous load was used, it is recommended to connect resistor or inductor to the load in serial in order
to reduce the impact of Inrush current or use the large module having a max. load current value.
Resistor Load Inductor Load

module
module
Output
Output
2-1 ML50 MLU-DN32HP User’s Manual R100

Honeywell January 2019
Chapter 3 Input/Output Specification
(7) Relay life of Relay output module is shown as below.

Max. life of Relay used in Relay output module is shown as below.
100
Open/Close times (× 10000)
50
30
20
10
AC 125V Resistive load
DC 30V Resistive load

AC 250V Resistive load
0.5 1 2 3 5 10 100
Open/Close current (A)
(8) Relay life graph is not written based on real use.

(This is not a guaranteed value). So consider margin. Relay life is specified under following condition.
Rated voltage load Million times Rated voltage load Million times
200V AC 1.5A 1 200V AC 1 A 1
240V AC 1A (COS Ø=0.7) 1 240V AC 0.5A (COS Ø=0.35) 1
200V AC 0.4A 3 200V AC 0.3A 3
240V AC 0.3A (COS Ø=0.7) 3 240V AC 0.15A (COS Ø=0.35) 3
24V DC 1A 1 24V DC 0.3A 3
100V DC 0.1A (L/R=7ms) 1 100V DC 0.03A (L/R=7ms) 3

(9) A clamped terminal with sleeve can not be used for the ML50 terminal strip. The clamped terminals suitable for
terminal strip are as follows (JOR 1.25-3:Daedong Electricity in Korea).
6.0mm or less 6.0mm or less
(10) The cable size connected to a terminal strip should be 0.3~0.75 ㎟ stranded cable and 2.8 ㎜ thick. The cable may
have different current allowance depending on the insulation thickness.
(11) The coupling torque available for fixation screw and terminal strip screw should follow the table below.
Coupling position Coupling torque range

IO module terminal strip screw (M3 screw) 42 ~ 58 N·㎝
IO module terminal strip fixation screw 66 ~ 89 N·㎝
(M3 screw)
(12) Noise can be inserted into input module. To prevent this noise, the user can set filter for input delay in parameter.
Consider the environment and set the input filter time.
Input filter time (ms) Noise signal pulse size (ms) Reference
1 0.3
3 1.8 Initial value
5 3
10 6
20 12
70 45
100 60
(13) Use power cable as follow
Item Cable Standard Cable type Immunity of Temp. Torque
Power and protecti GND 24AWG Cu 80℃ -

3.2 Main Unit Digital Input Specifications

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

3.3 Main Unit Digital Output Specifications

3.3.1 MLU-DN32H2/HP 16 point transistor output (Sink type)
Model Main unit
Specification MLU-DN32H2/HP
Output point 16 point
Rated load voltage DC 12/24V
Operation load voltage range DC 10.2 ~ 26.4V
Max. load current %QX0.0.0 ~ 11: 0.1A / 1point, %QX0.0.12~15: 0.5A / 1 point, 2A / 1COM
Off leakage current 0.1㎃ or less
Max. inrush current 4A / 10㎳ or less
Max. voltage drop when On DC 0.4V or less
Surge absorber Zener diode
Response Off  On 1㎳ or less
time On  Off 1㎳ or less (rated load, resistive load)
Proper wire size Stranded wire 0.3~0.75㎟ (external diameter 2.8㎜ or less)
External Voltage DC12/24V  10% (Ripple voltage 4 Vp-p or less)
power Current 20㎃ or less (When connecting DC24V)
Operation indicator LED On when Output On
External connection method 40 point connector
Weight 134g
B20 %IX0.0.0 A20 %QX0.0.0
B19 %IX0.0.1 A19 %QX0.0.1
B18 %IX0.0.2 A18 %QX0.0.2
A20
B17 %IX0.0.3 A17 %QX0.0.3 B20
B19 A19
B16 %IX0.0.4 A16 %QX0.0.4 B18 A18
DC5V B17 A17
%QX0.0.0 B15 %IX0.0.5 A15 %QX0.0.5 B16 A16
A20
Load A15
B14 %IX0.0.6 A14 %QX0.0.6 B15
B14 A14
R B13 %IX0.0.7 A13 %QX0.0.7 B13 A13
B12 A12
Internal B12 %IX0.0.8 A12 %QX0.0.8 B11 A11
circuit
A5 B11 %IX0.0.9 A11 %QX0.0.9 B10 A10
Load 15 B09 A09
A3,4 B10 %IX0.0.10 A10 %QX0.0.10 B08 A08
B07 A07
A1,2 B09 %IX0.0.11 A09 %QX0.0.11 B06 A06
DC12/24 B08 %IX0.0.12 A08 %QX0.0.12 B05 A05

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

3.4 Digital Input Specifications

3.4.1 8 point DC24V input module (Source/Sink type)
Model DC input module
Specification MLE-DC08A
Input point 8 point

Rated input current About 4㎃
Operation voltage range DC20.4~28.8V (ripple rate < 5%)
On Voltage/Current DC19V or higher / 3 ㎃ or higher
Off Voltage/Current DC6V or less / 1㎃ or less
Input resistance About 5.6㏀
Response Off  On
1/3/5/10/20/70/100㎳ (set by CPU parameter) Default: 3㎳
time On  Off
Insulation pressure AC560Vrms / 3Cycle (altitude 2000m)
Insulation resistance 10㏁ or more by Megohmmeter
Proper cable size Stranded pair 0.3~0.75㎟ (External diameter 2.8㎜ or less)
Current consumption 30㎃ (when all point On)
Operation indicator Input On, LED On
External connection method 10 point terminal block connector
Weight 52 g
Circuit configuration No. Contact Type
TB1 0
Photo coupler
(1) D TB2 1 TB01
0
C TB3 2 TB02
TB1 (2) L
R 5 TB03
ETB4 3
R V TB04
7 Internal DTB5 4 TB05
TB8
TB9 circuit TB6 5 TB06
COM
TB07
Terminal block no.
TB7 6
DC24V TB08
TB8 7 TB09
TB9 COM TB10
TB10 COM

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

Specification MLE-DC16A MLE-DC16B
Rated input voltage DC24V DC12/24V
Rated input current About 4㎃ About 4/8㎃
DC20.4~28.8V
Operation voltage range DC9.5~30V (ripple rate < 5%)
(ripple rate < 5%)
On Voltage/Current DC19V or higher / 3 ㎃ or higher DC9V or higher / 3 ㎃ or higher
Off Voltage/Current DC6V or less / 1㎃ or less DC5V or less / 1㎃ or less
Input resistance About 5.6㏀ About 2.7㏀
Response Off  On
time On  Off
Proper cable size Stranded cable 0.3~0.75㎟ (External diameter 2.8㎜ or less)
External connection method 8 pin terminal block connector + 10 pin terminal block connector
Weight 53 g
TB1 0
(3)TB2
D 1 TB01
Photo coupler
TB02
TB3C 2
0
(4) L TB03
TB1
R TB45 3
TB04
TB5VE 4
R TB05
D
7 Internal TB6 5 TB06
TB8
circuit TB7 6 TB07
TB9
COM TB8 7 TB08
Terminal block no. TB1 8 TB01

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

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

Specification MLE-DC32A
Input Derating Refer to Derating diagram
On Voltage/Current DC 19V or higher / 3 ㎃ or higher
Off Voltage/Current DC 6V or less / 1 ㎃ or less
Response Off  On
1/3/5/10/20/70/100㎳ (set by CPU parameter) Default:3㎳
time On  Off
Insulation pressure AC 560Vrms / 3 Cycle (altitude 2000m)
External connection method 40 pin connector
Weight 60g
B20 00 A20 10
Photo coupler B19 01 A19 11
0 B18 02 A18 12
B20 R B20 A20
B17 03 A17 13 B19 A19
R B16 04 A16 14 B18 A18

B17 A17
1F Internal B15 05 A15 15 B16 A16
A05
B02 circuit B14 06 A14 16 B15 A15
B14 A14
COM B13 07 A13 17 B13 A13
Terminal block no. B12 A12
DC24V
B12 08 A12 18
B11 A11
B11 09 A11 19 B10 A10
B09 A09
Input Derating diagram B10 0A A10 1A B08 A08
B07 A07
100 B09 0B A09 1B
B06 A06
90 B08 0C A08 1C B05 A05
B04 A04
80 B07 0D A07 1D
On rate (%)
B03 A03
70 B06 0E A06 1E B02 A02
B01 A01
60 B05 0F A05 1F
50 DC28.8V
B04 NC A04 NC
40
0 10 20 30 40 50 55 ℃ B03 NC A03 NC
Ambient temperature (℃) B02 COM A02 COM
B01 COM A01 COM

3.5 Digital Output Specifications

3.5.1 8 point relay output module
Model Relay output module
Specification MLE-RY08A
Insulation method Relay insulation
Rated load voltage / Current DC24V 2A (Resistive load) / AC220V 2A (COS = 1), 5A/COM
Min. load voltage/Current DC5V / 1㎃
Max. load voltage/Current AC250V, DC125V
Off leakage current 0.1㎃ (AC220V, 60㎐)
Max. On/Off frequency 3,600 times/hr
Surge absorber None
Mechanical 20 millions times or more
Rated load voltage / current 100,000 times or more
Service life AC200V / 1.5A, AC240V / 1A (COS = 0.7) 100,000 times or more
Electrical
AC200V / 1A, AC240V / 0.5A (COS = 0.35) 100,000 times or more
DC24V / 1A, DC100V / 0.1A (L / R = 7㎳) 100,000 times or more
time On  Off 12㎳ or less
Operation indicator Output On, LED On
Weight 80g
TB1 0
TB2 1
DC5V
(6) L TB3 2 TB1
TB1
E (7) LTB4 TB2
3
D
TB3
Internal RY TB5 4 TB4
TB8
circuit (5) LTB6 5 TB5
TB9 TB6
TB7 6 TB7
Terminal block no. TB8 7 TB8
TB9
TB9 COM

3.5.2 8 point relay output module (Independent point)

Specification MLE-RY08B
Rated load voltage / Current DC24V 2A (Resistive load) / AC220V 2A (COS = 1), 2A/COM
Max. load voltage/Current AC250V, DC125V
Surge absorber None
Electrical
External connection method 9 point terminal block connector x 2
Weight 81g
Circuit configuration No. Contact No.
TB1 0
TB2 COM0 TB1
TB3 1 TB2
DC5V TB3
TB4 COM1
(9) L TB4
E TB1 TB5 2 TB5
(8) L
D TB6 COM2 TB6
RY TB2 TB7 3 TB7
TB8 COM3 TB8
TB9 NC TB9
TB1 4 TB1
TB7
Internal TB2 COM4 TB2
circuit TB3 5 TB3
RY TB8
TB4 COM5 TB4
TB5
TB5 6
Terminal no. TB6
TB6 COM6
TB7
TB7 7 TB8
TB8 COM7 TB9
TB9 NC

3.5.3 16 point relay output module

Specification MLE-RY16A
Rated load voltage/ current DC24V 2A (Resistive load) / AC220V 2A (COS = 1), 5A/COM
Min. load voltage/current DC5V / 1㎃
Max. load voltage/current AC250V, DC125V
Surge absorber None
Electrical
External connection method 9 point terminal block connector x 2 ea
Weight 130g
TB1 0
TB2 1 TB1
TB2
TB3 2
DC5V TB3
(11) L TB4 3
TB4
E TB1 TB5 4 TB5
(12) L
D TB6 5 TB6
RY TB7 6 TB7
Internal
TB8 TB8 7 TB8
circuit (10) L TB9
TB9
TB9 COM
TB1 8 TB1
TB2 9 TB2
Terminal block no.
TB3 A TB3
TB4 B TB4
TB5
TB5 C
TB6
TB6 D TB7
TB7 E TB8
TB8 F TB9
TB9 COM

3.5.4 8 point transistor output module (Sink type)

Model Transistor output module
Specification
MLE-TN08A
Rated load voltage DC 12 / 24V
Load voltage range DC 10.2 ~ 26.4V
Max. load voltage 0.5A / 1 point
Max. voltage drop (On) DC 0.4V or less
Surge absorber Zener Diode
time On  Off 1㎳ or less (Rated load, resistive load)
External Voltage DC12/24V  10% (ripple voltage 4 Vp-p or less)
power supply Current 10㎃or less (DC24V connection)
Weight 52g
TB01 0
DC5V TB01 TB02 1

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


Specification MLE-TN16A
Max. load voltage 0.2A / 1 point, 2A / 1COM
Off  On 1㎳ or less
Response time
On  Off 1㎳ or less (Rated load, resistive load)
External power Voltage DC12/24V  10% (ripple voltage 4 Vp-p or less)
supply Current 10㎃or less (DC24V connection)
Weight 54 g
TB01 0
TB01
TB02 1
TB02
TB03 2 TB03
DC5V TB01 TB04 3 TB04
(17) L (16) L TB05
TB05 4
E TB06
TB06 5
D R TB07
TB07 6
TB08
Internal TB08 7
TB08
circuit (18) L TB01
TB01 8
TB02
TB09 TB02 9 TB03
TB03 A TB04
TB10 TB04 B TB05
DC12/24V TB06
TB05 C
Terminal block no. TB07
TB06 D
TB08
TB07 E
TB09
TB08 F TB10
DC12
TB09
/24V
TB10 COM


Specification MLE-TN32A
Max. inrush current 0.7A / 10㎳ or less
Response time
External power Voltage DC12/24V  10% (ripple voltage 4 Vp-p or less)
supply Current 20㎃or less (DC24V connection)
Weight 60g
Contac Contac Type
Circuit configuration No. No.
t t
B20 00 A20 10
B19 01 A19 11
B18 02 A18 12
DC5V
B17 03 A17 13 B20 A20
B19 A19
B20 B16 04 A16 14
(19) L (20)
B15 L 05 A15 15
B18 A18
B17 A17
E B14 06 A14 16 B16 A16
D B13 07 A13 17 B15 A15
B12 08 A12 18 B14 A14

R B13 A13
B11 09 A11 19 B12 A12
Internal B10 0A A10 1A B11 A11
circuit B09 0B A09 1B B10 A10

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

3.5.7 8 point transistor output module (Source type)

Specification
MLE-TP08A
Max. load voltage 0.5A / 1 point
Proper cable size Stranded cable 0.3~0.75㎟ (external diameter 2.8㎜ or less)
Current consumption 40㎃ (when all outputs are on)
power Current 10㎃ or less (when connecting DC24V)
Operation indicator LED on when output on
External connection method 10 pin terminal block connector
Weight 30g
TB01 0
DC5V
TB09
TB02 1
(23) L
TB01
E TB03 2
TB10 TB02
D
Internal TB08 TB04 3 TB03
circuit (22) L TB04
TB05 4
TB05
TB06 5 TB06
R TB07 6 TB07
TB01
(24) L TB08
TB08 7 TB09
Terminal bloc TB09 COM TB10
k no.
TB10 0V


Specification MLE-TP16A
Response time
Current consumption 60㎃ (When all outputs are on)
power Current 10㎃ or less (connecting DC24V)
Operation indicator LED On when output On
Weight 40g
TB01 0
TB01
TB02 1
TB02
DC5V TB03 2
(26) L TB09 TB03
DC12/24V TB04 3 TB04
E
TB10 TB05 4 TB05
D
Internal TB08 TB06
circuit (25)TB06
L 5
TB07
TB07 6
TB08
TB08 7
TB01
R TB01 8
TB010 TB02
(27)TB02
L 9
TB03
TB03 A TB04
Terminal bloc
k no. TB04 B TB05
TB05 C TB06
TB07
TB06 D
TB08
TB07 E
TB09
TB08 F TB10
TB09 COM
TB10 0V


Specification MLE-TP32A
Max. inrush current 4A / 10 ㎳ or less
Response time
Current consumption 120㎃ (When all outputs are on)
Voltage DC12/24V  10% (ripple voltage 4 Vp-p or less)
External power
Current 20㎃ or less (connecting DC24V)
Weight 60g
B20 00 A20 10
B19 01 A19 11
B18 02 A18 12
DC5V B17 03 A17 13 B20 A20
(29) L B02,B01 B16 04 A16 14 B19 A19
E
DC12/24V B15 05 A15 15 B18 A18
B17 A17
A02,A01 B14 06 A14 16
D B16 A16
Internal B13 07 A13 17 B15 A15
circuit A05 (28) L 08
B12 A12 18 B14 A14
B13 A13
B11 09 A11 19 B12 A12
B10 0A A10 1A B11 A11
B09 0B A09 1B B10 A10
B09 A09
R B08 0C A08 1C
B20 B08 A08
B07
(30) L 0D A07 1D B07 A07
B06 0E A06 1E B06 A06
B05
Connector No B05 0F A05 1F A05
B04 A04
. B04 NC A04 NC B03 A03
B03 NC A03 NC B02 A02
B01
B02 A02 A01
COM 0V
B01 A01

3.6 Combined Digital I/O module Input Specification

3.6.1 8 point DC24V input (Source/Sink type)

Specification
MLE-DR16A
Input point 8 point
Operation voltage range DC20.4~28.8V (within ripple rate 5%)
On Voltage/Current DC19V or higher / 3㎃ or higher
Off Voltage/Current DC6V or less / 1㎃ or less
Response Off  On
time On  Off
Current consumption 280㎃ (When all inputs and outputs are on)
Operation indicator LED on when input on
Weight 81g
TB1 0
(32) D TB2 1 TB1
0 Photo coupler C TB3 2 TB2
TB1 (31) L
R 5 TB3
ETB4 3
R V TB4
7 Internal DTB5 4
TB8 TB5
TB9 circuit TB6 5
COM
TB6
TB7 6 TB7
DC24V
Terminal bloc TB8
k no.
TB8 7
TB9
TB9 COM

3.6.2 8 point DC24V input (Source/Sink type)

Specification MLE-DN32A
Input Derating Refer to Derating diagram
On Voltage/Current DC 19V or higher / 3 ㎃ or higher
Off Voltage/Current DC 6V or less / 1 ㎃ or less
Response Off  On
1/3/5/10/20/70/100㎳ (set by CPU parameter) Default:3㎳
time On  Off
Insulation pressure AC 560Vrms / 3 Cycle (altitude 2000m)
Weight 60g
B20 00 A20 20
Photo coupler B19 01 A19 21
0 B18 02 A18 22
B20 R B20 A20
B17 03 A17 23 B19 A19
R B16 04 A16 24 B18 A18

B17 A17
1F Internal B15 05 A15 25 B16 A16
B05
B02
circuit B14 06 A14 26 B15 A15
B14 A14
COM B13 07 A13 27 B13 A13
Terminal block no. B12 A12
DC24V
B12 08 A12 28 B11 A11
B11 09 A11 29 B10 A10
B09 A09
Input Derating diagram B10 0A A10 2A B08 A08
100 B09 0B A09 2B B07

B06
A07
A06
90 B08 0C A08 2C B05 A05
B04 A04
80 B07 0D A07 2D
On rate (%)
B03 A03
70 B06 0E A06 2E B02 A02
B01 A01
60 B05 0F A05 2F
50 DC28.8V
B04 NC A04 P
40
0 10 20 30 40 50 55 ℃ B03 NC A03 P
Ambient temperature (℃)

3.7 Combined Digital I/O module Output Specification

3.7.1 8 point relay output
Specification MLE-DR16A
Rated load
DC24V 2A (Resistive load) / AC220V 2A (COS = 1), 5A/COM
voltage / Current
Max. load voltage AC250V, DC125V
Surge absorber None
Electrical
Operation indicator LED on when output on
Weight 81g
TB1 0
DC5V TB2 1
(34) L TB1
TB1
E (35) TB3
L 2 TB2
Internal D TB3
circuit RY TB4 3
TB4
TB8
(33) L TB5
TB5 4
TB9 TB6
TB6 5 TB7
Terminal bloc TB7 6 TB8

k no. TB8 7 TB9
TB9 COM

3.7.2 16 point transistor output(Sink type)

Specification MLE-DN32A
Rated voltage DC12/24V
Operation voltage range DC10.2~26.4V
Max. load current 0.2A / 1 point, 2A / 1COM
Max. load voltage 0.7A / 10ms or less
Surge absorber TVS Diode
power Current 20㎃ or less (connecting DC24V)
Weight 60g
B20 00 A20 20
B19 01 A19 21
B18 02 A18 22
B17 03 A17 23 B20 A20
B19 A19
B16 04 A16 24 B18 A18
B15 05 A15 25 B17 A17
B16 A16
B14 06 A14 26
B15 A15
B13 07 A13 27 B14 A14
B12 08 A12 28 B13 A13
B12 A12
B11 09 A11 29
B11 A11
B10 0A A10 2A B10 A10
B09 A09
B09 0B A09 2B
B08 A08
B08 0C A08 2C B07 A07
B07 0D A07 2D B06 A06
B05 A05
B06 0E A06 2E B04 A04
B05 0F A05 2F B03 A03
B02 A02
B04 NC A04 P
B01 A01
B03 NC A03 P
B02 A02 OUT_

IN_CO
COM
M
B01 A01

3.8 I/O modules’ Functions

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

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

1) Click [I/O Parameter] in SOFTMASTER

2) Click [Module] in Slot
3) Set I/O Module
4) Click the below box and set Inpu filter
5) Set Input filter

3.8.2 Emergency output function

The ML50 PLC’s output module supports the emergency output function to determine whether maintaining the
output status of the output module or clearing it when the PLC is stopped due to errors.
You can set the emergency output by 8 points. For more details on how to set the emergency output, refer to the
below.
(1) Click the below box
(2) Set Emergency output
When the emergency output is cleared, the output is turned off when the operation is stopped because an error
occurs in the PLC. If you select hold Maintain output status.

3.8.3 Pulse Catch Function

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

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

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

(3) Setting pulse catch

1) Pulse catch flags are stored in below device
Word flags Bit flags Variable Description

%FX2768 _PLS_CATCH_0 Input contact 0 pulse catch result
_PLC_CATCH[] %FX2771 _PLS_CATCH_3 Input contact 3 pulse catch result
(%FW173) %FX2772 _PLS_CATCH_4 Input contact 4 pulse catch result

3.8.1 Smart link board

Easy wiring is available by connecting the IO connector with smart link board.
The available smart link and IO cable are as follows.
ML50 Smart link Connection cable
Item Model Model Pin Model Length Contents
XTB-40H C40HH-05SB-XBI For main unit connection
Main unit MLU-DN32H(P) 40 0.5~1m
(TG7-1H40S) C40HH-10SB-XBI (40Pin)
XTB-40H
MLE-DC32A 40 C40HH-10SB-XBE 1m
(TG7-1H40S) For expansion module
XTB-40H connection (40Pin)
40 C40HH-10SB-XBE 1m
Expansion (TG7-1H40S)
module For expansion module
MLE-TN32A
connection (40Pin)
R32C-NS5A-40P 40 C40HH-10SB-XBE 1m
Exclusive for relay built-in
type
1) XTB-40H terminal array
Terminal array of XTB-40H is as follows.
Item Specification
Rated voltage AC125 / DC 24[V]
Rated current Max. 1[A]
Withstanding volta
500V 1min
ge
Insulation resistor 100㏁ (DC500V)
AWG22-16
Cable specification
(1.5mm2 / MAX)
Terminal/screw M3 X 8L
1.2N ∙ m
Torque
(12kgf ∙ cm)
Terminal Modifide PP0
material Cover Polycarbonate
PCB Epoxy 1.6t

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

Wiring of ML50 main unit through XTB-40H and C40HH-10SB-XBI is as follows.
At this time, relationship of ML50 IO signal and Smart link board terminal number is as follows.
The following figure describes signal allocation when C40HH-10SB-XBI is used as connection cable.
When the user makes the cable, make sure that wring is done as figure below.

Chapter 4 Built-in High-speed Counter Function
ML50 series have built-in function of High-speed counter in main unit. This chapter describes specifications and usage of
High-speed counter’s function
4.1 High-speed Counter Specifications

4.1.1 Performance Specifications
(1) Performance specifications
Classification Spcification
Signal A-phase, B-phase

Count input
Input type Voltage input (Open collector)
signal
Signal level DC 24V
Max. count speed 200kpps
Number of 1 phase 200kpps 4 channels
channels 2 phase 100kpps 2 channels
Count range Signed 32 Bit (-2,147,483,648 ~ 2,147,483,647)
Linear count (if 32-bit range exceeded, Carry/Borrow occurs)
Count mode Counter max. and min. value is indicated
(Program setting)
Ring count (repeated count within setting range)
1-phase input
Input mode
2-phase input
(Program setting)
CW/CCW input
Signal type Voltage
Increasing/decreasing operation setting by B-phase input
1 phase input
Increasing/decreasing operation setting by program
Up/Down
setting 2 phase input Operating setting by rising/falling edge phase difference
A-phase input: increasing operation
CW/CCW
B-phase input: decreasing operation
1 phase input 1 multiplication
Multiplication
2 phase input 4 multiplication
function
CW/CCW 1 multiplication
Signal Preset instruction input(%IX0.0.4 ~ %IX0.0.7)
Control input Signal level DC 24V input type
Signal type Voltage
2-4-1 ML50 MLU-DN32HP User’s Manual R100

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

Input voltage 24V DC (20.4V ~ 28.8V)
Input current 4mA
On guaranteed voltage (min.) 20.4V
Off guaranteed voltage (max.) 6V

4.1.2 Designation of Parts

(1) Designation of parts
Terminal Names Usage

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

(2) Interface with external devices
Signal On/Off
Operation
Terminal
I/O Internal circuit guaranteed
No. 1-phase 2-phase
voltage
Ch 0 Ch 0 On 20.4~28.8V
B20
4. 7 k Pulse input A-phase input Off 6V or less
B19 Ch 1 Ch 0 On 20.4~28.8V
4. 7 k Pulse input B-phase input Off 6V or less
Ch 2 Ch 2 On 20.4~28.8V
B18
Pulse input A-phase input Off 6V or less
4. 7 k
Ch 3 Ch 2 On 20.4~28.8V
B17
4. 7 k Pulse input B-phase input Off 6V or less
Input
Ch 0 Ch 0 On 20.4~28.8V
B16
5. 6 k Preset input Preset input Off 6V or less
Ch 1 On 20.4~28.8V
B15 -
Preset input Off 6V or less
5. 6 k
Ch 2 Ch 2 On 20.4~28.8V
B14
Preset input Preset input
5. 6 k Off 6V or less
Ch 2 On 20.4~28.8V
B13 -
Preset input Off 6V or less
5. 6 k
B01/B02 COM (input common)

4.1.3 Functions of High-speed Counter

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

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

Increasing/Decreasing classification
rising falling
Increasing/decreasing count setting signal Off Increasing count -
Increasing/decreasing count setting signal On Decreasing count -
• Operation example
A phase input
pulse
Up/Down On
count setting Off Off
Count 10 11 12 13 12 11 12
Up Down Up

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

• 1-phase 2-input 1-multiplication operation mode
A-phase input pulse counts at rising and increasing/decreasing will be decided by B-phase.
Increasing/Decreasing classification A-phase input pulse rising A-phase input pulse falling
B-phase input pulse Off Increasing count -
B-phase input pulse On Decreasing count -
A phase input
pulse
On
B phase input Off Off
pulse
Count 10 11 12 13 12 11 12
Up Down Up
2) 2-phase count mode

a) 2-phase 4-multiplication operation mode
A-phase input pulse and B-phase input pulse count at rising/falling respectively. If A-phase input is
antecedent to B-phase input, increasing operation starts, and if B-phase input is antecedent to A-phase input,
decreasing operation starts.
A phase input
pulse
B phase input
pulse
Count 10 11 12 13 14 15 16 17 18 19 20 21 22 23 22 21 20 19 18 17 16 15 14 13 12 11 10
Up Down
3) CW(Clockwise)/CCW(Counter Clockwise) operation mode

A-phase input pulse counts at rising , or B-phase input pulse counts at rising.
Increasing operation executed when B-phase input pulse is Low with A-phase input pulse at rising, and
Decreasing operation executed when A-phase input pulse is Low with B-phase input pulse at rising.
Increasing/Decreasing classification A-phase input pulse High A-phase input pulse Low
B-phase input pulse High - decreasing count
B-phase input pulse Low Increasing count -
A phase input
pulse
B phase input
pulse
Count 10 11 12 13 12 11 10
Up Down

(2) Counter mode

2 types of count (Linear counter, Ring counter) can be selected for the applicable use based on functions.
• Counter mode is saved at the following special K area.

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

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

(b) Ring count

Set Ring Counter Min. Value and Max. value. Preset value and compared set value should be in range of ring
counter min. value and max. value.
Ring counter max. and min value is saved at the following special K area.
Area per each channel (Double word)
type Reference
Ch.0 Ch.1 Ch.2 Ch.3
Ring counter
%KD154 %KD169 %KD184 %KD199
Min. value
Ring counter
%KD155 %KD170 %KD185 %KD200
Max. value
▪ Range of Ring counter: user defined min. value ~ user defined max. value
▪ Counter display: in case of using ring counter, user defined max. value is not displayed.
1) During increasing count
Even if count value exceeds user-defined maximum value during increasing count, Carry only occurs and
count does not stop differently to Linear Count.
Ring count max.
value
Input pulse
Count start : not included

: included
Ring count min.

value
Carry
Carry/borrow reset

2) During decreasing count

Even if count value exceeds user-defined minimum value during decreasing count, Borrow only occurs
and count does not stop differently to Linear Count.
Count
Ring count max
value
Count start
Input pulse
: Not included
: Included
Ring count min

value
Borrow
Carry/Borrow reset
3) Operation when setting Ring Count based on present count value (during increasing count)
• If present count value exceeds user-defined range when setting Ring Count
- Error (code no. 27) is occurred and it operates linear counter.
• If present count value is within user-defined range when setting Ring Count
- Present count value starts to increase up to the user-defined maximum value and down to the user-
defined minimum value and keeps counting after Carry occurs.
- Not the maximum but the minimum value only is displayed with count kept on as shown below.
2,147,483,647
Carry occurred
Ring Count Carry occurred
Max. value
Present
Ring Count position
Min. value ○ :Not included
● :Included
-2,147,483,648 Present position
※If out of the user- ※If within the user-

defined range defined range

4) Operation when setting Ring Count based on present count value (during decreasing count)
• If present count value exceeds user-defined range when setting Ring Count
- Error (code no. 27) is occurred and it operates linear counter. If the present count value goes into the
ring count range, it operates ring counter.(The error code is not cleared.)
• If present count value is within user-defined range when setting Ring Count
- Present count value starts to decrease down to the user-defined minimum value and up to the user-
defined maximum value and keeps counting after Borrow occurs.
2,147,483,647
Ring Count
maximum value
Present position
Ring Count
Present position Borrow occurred
minimum value ○ : Not included
Borrow occurred ● : Included
-2,147,483,648
※If out of the user-defined ※If within the user-defined range
range
Remark
(1) Based on count value within or out of user-defined range, count will be decided to be within or out of the range
when setting Ring Count.
(2) Ring Count setting when count value is out of the range is regarded as user’s mistake. The count is not available
within the Ring Count range.
(3) Use preset function or the like when using Ring Count so to surely position the count value within the range.

(3) Compared output

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

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

• In order to output the compared output signal, compared output enable flag set to ‘1’ after compared output condition
set.
Area per channel
Classification Operation
Ch. 0 Ch. 1 Ch. 2 Ch. 3
Count enable signal %KX4160 %KX4320 %KX4480 %KX4640 0: N/A, 1: enable
Compared enable0 signal %KX4164 %KX4324 %KX4484 %KX4644 0: forbidden, 1: enable
Compared enable1 signal %KX4167 %KX4327 %KX4487 %KX4647 0: forbidden, 1: enable
▪ In order to make external output, the compared coincidence output signal (P20~P2F) must be set. If Compared output
contact is ‘Off’ at Special Module Parameter Setting of SoftMaster, Compared coincidence output signal (internal
device) is only output.
Area per channel
Ch. 0 Ch. 1 Ch. 2 Ch. 3
0: Compared output not
Comparator output
%KX4178 %KX4338 %KX4498 %KX4658 equivalent
signal0
1: Compared output equivalent
0: Compared output not
Comparator output
%KX4179 %KX4339 %KX4499 %KX4659 equivalent
signal1
1: Compared output equivalent
• Comp. output point (%QX0.0.0 ~ %QX0.0.15) setting

(e) Detail of comparator output

It describes detail of comparator output (based on comparator output 0)
1) Mode 0 (Present value < Compared value)

If counted present value is less than the minimum value of compared output 0, output is sent out, and if present
value increases to be equal to or greater than the minimum value of compared output 0, output is not sent out.
Count 123456 123457 123458 123459 123460 123461 123462

Comparator
123460
output 0 Min.value
Compared
output 0 Enable
Compared output 0
Output Signal
External output
(in case of Enabled)
2) Mode1 (Count value ≤ Compared value)

If present count value is less than or equal to the minimum set value of compared output 0, output is sent out, and if
count value increases to be greater than the minimum set value of compared output 0, output is not sent out.
Count 123456 123457 123458 123459 123460 123461 123462

Comparator
123460
output 0 Min.value
Compared
output 0 Enable
Compared output 0
Output Signal
External output
3) Mode 2 (Count value = Compared value)

If present count value is equal to the minimum set value of compared output 0, output is On. The ouput will keep
turning on even if count value is changed from set value when count value is increased or decreased. In order to
turn the output Off, Compared output Enable signal 0 is to be Off, or Compared match flag of K area and External
output point are forced to be Off
Count 123456 123457 123458 123459 123460 123461 123462

Comparator
123460
output 0 Min.value
Compared
output 0 Enable
Compared output 0
Output Signal
Turn off by program
External output

4) Mode 3 (Count value ≥ Compared value)

If present count value is greater than or equal to the minimum set value of compared output 0, output is sent out,
and if count value decreases to be less than the minimum set value of compared output 0, output is not sent out.
Count 123456 123457 123458 123459 123460 123461 123462

Comparator
123458
output 0 Min.value
Compared
output 0 Enable
Compared output 0
Output Signal
External output
5) Mode 4 (Count value > Compared Output value)

If present count value is greater than the minimum set value of compared output 0, output is sent out, and if count
value decreases to be less than or equal to the minimum set value of compared output 0, output is not sent out.
Count 123456 123457 123458 123459 123460 123461 123462

Comparator
123458
output 0 Min.value
Compared
output 0 Enable
Compared output 0
Output Signal
External output
6) Mode 5
(Section comparison: Min. set value of Compared Output 0 ≤ Count value ≤ Max. set value of Compared Output 0)
If present count value is greater than or equal to the minimum set value of compared output 0 and less than or
equal to the maximum set value of compared output 0, output is sent out, and if count value increases/decreases to
exceed compared value’s range, output is not sent out.
Count 123456 123457 123458 123459 123460 123461 123462
Compared Min. Value 123457

Compared Max. Value 123461
Comparator Enable
Compared ouput
External output

7) Mode 6 (Count value ≤ Min. set value of Compared Output 0 or Count value ≥ Max. set value of Compared Output 0)
If present count value is less than or equal to the minimum set value of compared 0 and greater than or equal to the
maximum set value of compared 0, output is sent out, and if count value increases/decreases to exceed compared
value’s range, output is not sent out.
Count 123456 123457 123458 123459 123460 123461 123462
Compared Min. Value 123458

Compared Max. Value 123460
Comparator Enable
Compared output
result
External output
Remark
Ultimate performance ML50 main unit checks present count value every 250㎲ and executes compared output
function. Therefore, it can takes maximum 250㎲ delay to detect compared condition.
(4) Carry signal

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

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

(6) Revolution/Unit time

While the Flag about the number of revolution per unit time is On, it counts the number of input pulses for the
specified unit time so that the number of revolution per unit time is calculated.
(a) Setting
1) Set the unit time and the number of pulse per 1 revolution.
Setting value is saved at the following special K area and user can designate directly.
Device area per channels (WORD)

Unit time (1~60000㎳) %KW322 %KW352 %KW382 %KW412 1~60000㎳
Pulse number /revolution
%KW323 %KW353 %KW383 %KW13 1~60000
(1~60000)
2) In case of using Rev/unit time function, enable the following special K area
Device area per channels(BIT)
Revolution/unit time 0: disable
%KX4165 %KX4325 %KX4485 %KX4645
command 1: enable
3) Rev/unit time value is saved at the following special K area.

Device area per channels(DWORD)
Classification
Revolution Per Unit %KD132 %KD137 %KD142 %KD147

(b) Count function of Revolution/Unit time is used to count the number of pulses for a specified time while auxiliary
mode enable signal is On so that the number of revolution per unit time is calculated as follow.
1
unit time ms  
 pls  1000
Input pluse     Revolution / Unit time
 sec  number of pulses per a revolution pls 
(c) Number of Revolution per 1 second is indicated after number of pulse per 1 revolution is set and time is set to 1
second (1000ms). In order to indicate by Revolutions per minute (RPM), set the Unit time to 1
minute(60,000ms).
(d) In case of that number of pulse per 1 revolution set to ‘10’, the example of calculating Revolution/Unit time is as
shown below.
Current count
700
600
400
350
300
190
100 Count starting point
0
Revolution
per unit time
30
25
21
10
0
Setting time Setting time Setting time Setting time
Revolution per
unit time function
enabled
(7) Latch counter function

Latch counter function latches the current counter value when the power is turned off in case of that latch counter
enable signal is On.
• Setting: If present counter value is to latch, set Count Latch Enable flag to On.

Count latch 0: disable
%KX4166 %KX4326 %KX4486 %KX4646
command 1: enable
▪ Count latch function is operated when Count latch signal is On. Namely, counter value is not cleared when power
supply Off =>On and mode change, it is counted from previous value.
▪ In latch counter function, internal or external preset function has to use for clearing present value.

(8) Preset function

It changes the current value into preset value.
There are two types of preset function, internal preset and external preset. External preset is fixed as input contact
point of main unit (%IX0.0.4 ~%IX0.0.7).
• Preset setting value is saved at the following special K area.

Area per each channel (DWORD)
Type Ref.
Ch.0 Ch.1 Ch.2 Ch.3
Internal preset %KD152 %KD167 %KD182 %KD197 -
External preset %KD153 %KD168 %KD183 %KD198 -
• Preset command is specified through the following special K area, external preset is used by executing the
designated input contact point after allowance bit is on.
Area per each channel (BIT)
Type Ref.
Ch.0 Ch.1 Ch.2 Ch.3
Internal preset
%KX4161 %KX4321 %KX4481 %KX4641 -
command
External preset
%KX4162 %KX4322 %KX4482 %KX4642 -
allowance
External preset
%IX0.0.4 %IX0.0.5 %IX0.0.6 %IX0.0.7 -
command
• External preset is executed in case of that rising edge of external preset input contact is occurred when external
preset allowance is enabled.

(9) Frequency measurement function

The function measures and displays the frequency for every measurement cycle when frequency measurement
enable flag is On.
(a) Setting
1) Set up Frequency Measure mode.
Setting value is saved at the following special K area and user can designate directly.
Area per each channel (WORD)
Class Operation
Ch.0 Ch.1 Ch.2 Ch.3
Frequency 1, 10, 100,
%KW324 %KW354 %KW384 %KW414
Measuring Period 1000 Hz
2) Set Frequency measurement enable flag to ‘Enable’ when using frequency measurement function.
Class Operation
Ch.0 Ch.1 Ch.2 Ch.3
Frequency
0: disable
measurement enable %KX4168 %KX4328 %KX4488 %KX4648
1: enable
command
3) Frequency measurement value is saved at the following special K area.

Area per each channel (DWORD)
Class Ref.
Ch.0 Ch.1 Ch.2 Ch.3
Frequency
%KD134 %KD139 %KD144 %KD149
measurement value

4) Frequency input mode can be specified as below, whose update cycle and resolution will be decided based
on the applicable mode.
Frequency unit setting Unit[Hz] Updated cycle[ms]
0 1 1000
1 10 100
2 100 10
3 1000 1
5) In case of setting up the frequency unit to 1Hz, the operation of frequency measurement function is as
show below.
Current count
700
600
400
350
300
190
100 Count starting point
0
Input frequency
300
250
210
100
0
Revision Revision Revision Revision
Frequency Cycle Cycle Cycle Cycle
Measurement
enable
(10) Count pause

Count operation is not executed even if pulses are input when count pause flag is On.
Set the count pause signal to On when using count pause function.
Class Operation
Ch.0 Ch.1 Ch.2 Ch.3
0: disable
Count pause %KX4170 %KX4330 %KX4490 %KX4650
1: enable
Current Count
300
100 Count starting

point
0
-200
Count pause
enable

4.2 Installation and Wiring

4.2.1 Precaution for Wiring
Pay attention to the counteractions against wiring noise especially for high-speed counter input.
(1) Make sure of using separate cables for the power line and external I/O signal line of high-speed counter module so
that it is not affected from surge or induced noise from power line.
(2) The wire has to be selected by considering the permitted current and the ambient temperature.
(3) If the wire is so near with high temperature machines and materials, or is contacted with oil for a long time, it can be
short circuit or malfunction.
(4) Check the polarity before applying external I/O signal to terminal.
(5) In case of that the high voltage line and the power line are wired at the same time, the induced interruption is
caused. So it can be a reason for abnormal operation or malfunction.
(6) When using pipe for wiring, grounding for pipe is necessary.
(7) Use shielded twisted pair cable for wiring pulse input to high-speed counter If it is speculated that there is a noise
source for wiring between high-speed counter and connected devices.
(8) Connect only A-phase in case of 1-phase input.
(9) Wire with due regard to maximum output length of pulse generator and wiring should be as short as possible.
(10) Make sure of grounding with class 3 grounding which is dedicated to the PLC.
4.2.2 Example of Wiring

(1) When pulse generator(encoder) is voltage output.
Ultimate performance XGB PLC 펄스발생기기
Pulse generator
Shielded twisted pair cable

Contact
A5V
COM
A5V
F.G 0V 24V
- +
24V DC
(2) When pulse generator is open-collector output type.

Ultimate performance XGB PLC Pulse generator
Shielded twisted pair cable

Contact
A12V
OUTA
A_C
COM
F.G 24V 0V
- +
24V DC

4.3 Internal Memory

4.3.1 Special Area for High-speed Counter
Parameter and operation command area of built-in high-speed counter use special K devices.
If values set in parameter are changed, it works with the changed values.
(1) Parameter setting area

Description Device area per channel
Parameter Remark
Value Setting Ch 0 Ch 1 Ch 2 Ch 3
h0000 Linear count
Counter mode %KW300 %KW330 %KW360 %KW390 Word
h0001 Ring count
h0000 1 phase 1 input 1 multiplication
Word
Pulse input mode h0001 1 phase 2 input 1 multiplication
%KW301 %KW331 %KW361 %KW391
setting h0002 CW / CCW
Word
h0003 2 phase 4 multiplication
h0000 (Magnitude) <
h0001 (Magnitude) ≤
Comp. h0002 (Magnitude) =
Output 0 mode h0003 (Magnitude) ≥ %KW302 %KW332 %KW362 %KW392 Word
setting h0004 (Magnitude) >
h0005 (Range) Include
h0006 (Range) Exclude
h0000 (Magnitude) <
h0001 (Magnitude) ≤
Comp. h0002 (Magnitude) =
Output 1 mode h0003 (Magnitude) ≥ %KW303 %KW333 %KW363 %KW393 Word
setting h0004 (Magnitude) >
h0005 (Range) Include
h0006 (Range) Exclude
Internal preset
-2,147,483,648 ~ 2,147,483,647 %KD152 %KD167 %KD182 %KD197 DWord
Value setting
External preset
-2,147,483,648 ~ 2,147,483,647 %KD153 %KD168 %KD183 %KD198 DWord
Value setting
Ring counter
-2,147,483,648 ~ 2,147,483,645 %KD154 %KD169 %KD184 %KD199 DWord
min. value setting
Ring counter
-2,147,483,646 ~ 2,147,483,647 %KD155 %KD170 %KD185 %KD200 DWord
max. value setting
Comp. output
-2,147,483,648 ~ 2,147,483,647 %KD156 %KD171 %KD186 %KD201 DWord
min. value setting
Comp. output
-2,147,483,648 ~ 2,147,483,647 %KD157 %KD172 %KD187 %KD202 DWord
max. value setting

Description Device area per channel

Parameter Remark
Value Setting Ch 0 Ch 1 Ch 2 Ch 3
HFFFF No use
h0000 %QX0.0.1
h0001 %QX0.0.2
h0002 %QX0.0.3
h0003 %QX0.0.4
h0004 %QX0.0.5
h0005 %QX0.0.6
Comp. output 0 h0006 %QX0.0.7
point h0007 %QX0.0.8 %KW320 %KW350 %KW380 %KW410 Word
designation h0008 %QX0.0.9
h0009 %QX0.0.10
h000A %QX0.0.11
h000B %QX0.0.12
h000C %QX0.0.13
h000D %QX0.0.14
h000E %QX0.0.15
h000F %QX0.0.16
HFFFF No use
h0000 %QX0.0.1
h0001 %QX0.0.2
h0002 %QX0.0.3
h0003 %QX0.0.4
h0004 %QX0.0.5
h0005 %QX0.0.6
Comp. output 1 h0006 %QX0.0.7
point h0007 %QX0.0.8 %KW321 %KW351 %KW381 %KW411 Word
designation h0008 %QX0.0.9
h0009 %QX0.0.10
h000A %QX0.0.11
h000B %QX0.0.12
h000C %QX0.0.13
h000D %QX0.0.14
h000E %QX0.0.15
h000F %QX0.0.16
Unit time [ms] 1 ~ 60,000 ms %KW322 %KW352 %KW382 %KW412 Word
Pulse/Rev.value 1 ~ 60,000 %KW323 %KW353 %KW383 %KW413 Word
h0000 1Hz
Frequency Word
h0001 10Hz
Measurement %KW324 %KW354 %KW384 %KW414
h0002 100Hz
cycle setting Word
h0003 1000Hz

(b) Operation command

Device area per channel
Parameter
Ch 0 Ch 1 Ch 2 Ch 3
Counter enabling %KX4160 %KX4320 %KX4480 %KX4640
Internal preset designation of
%KX4161 %KX4321 %KX4481 %KX4641
counter0
External preset enabling of
%KX4162 %KX4322 %KX4482 %KX4642
counter1
Designation of decremental
%KX4163 %KX4323 %KX4483 %KX4643
counter
Comp. output enabling %KX4164 %KX4324 %KX4484 %KX4644
Enabling of revolution time per
%KX4167 %KX4327 %KX4487 %KX4647
unit time
Designation of latch counter %KX4165 %KX4325 %KX4485 %KX4645
Carry signal (Bit) %KX4166 %KX4326 %KX4486 %KX4646
Borrow signal %KX4168 %KX4328 %KX4488 %KX4648
Comp. output signal %KX4176 %KX4336 %KX4496 %KX4656
(c) Monitor Area

Parameter Remark
Ch 0 Ch 1 Ch 2 Ch 3
Current counter value %KD131 %KD136 %KD141 %KD146 DWORD
Revolution time per unit time %KD132 %KD137 %KD142 %KD147 DWORD
Frequency measurement %KD134 %KD139 %KD144 %KD149

4.3.2 Error code

It describes errors of the built-in high-speed counter.
• Error occurred is saved in the following area.
Category Remark
Ch0 Ch1 Ch2 Ch3
Error code %KW266 %KW276 %KW286 %KW296 WORD
▪ Error codes and descriptions

Error code
Description
(Decimal)
20 Counter type is set out of range
21 Pulse input type is set out of range
Requesting #1(3,)channel Run during the operation of #0(2) channel 2 phase(
22
* During #0(2) channel 2 phase inputting, using #1(3)channel is not possible.
23 Compared output type setting is set out of range.
25 Internal preset value is set out of counter range
26 External present value is set out of counter range
Ring counter setting is set out of range
27
* Note ring counter setting should be 2 and more.
28 Compared output min. value is set out of permissible max. input range
29 Compared output max. value is set out of permissible max. input range
30 Error of Compared output min. value>Compared output max. value
31 Compared output is set out of the default output value
34 Set value of Unit time is out of the range
35 Pulse value per 1 revolution is set out of range
36 Compared output min. value is set out of permissible max. input range (Comp. output 1)
37 Compared output max. value is set out of permissible max. input range (Comp. output 1)
38 Error of Compared output min. value>Compared output max. value (Comp. output 1)
39 Compared output is set out of the default output value (Comp. output 1)
40 Frequency measurement cycle setting error
Remark
If two and more errors occur, the module displays the latest error code.

4.4 Example of Using High-speed Counter

It describes examples of using high-speed counter.
(1) Setting high-speed counter parameter
How to set types of parameters to operate a high-speed counter is described as follows.
(a) Set 『Internal Parameters』 in the basic project window.
(b) Selecting high-speed counter opens a window to set high-speed counter parameters as follows.
(Every parameter settings are saved in the special K device area.)
(c) Upon the setting, download program and parameter to PLC.

(c) Turn ‘ON’ the high-speed counter Enable signal (CH0:%KX4160) in the program.
(d) To use additional functions of the high-speed counter, you needs to turn on the flag allowing an operation
command.
* Refer to <4.3.1 Special Area for High-speed Counter>
For instance, turn on K2605 bit if among additional functions in order to use revolution time per unit time function.
(2) Monitoring and setting command

Monitoring and command setting of high-speed counter are described as follows.
(a) If starting a monitor and clicking a Special Module Monitor, the following window is opened.

(b) Clicking 『Monitor』 shows monitor and test window of high-speed counter.
Item Description
FLAG Monitor Show flag monitoring and command window of high-speed counter
Start Monitoring Start monitoring each item (special K device area monitor).
Write each item setting to PLC.
Test
(Write the setting to special K device)
Close Close monitor
(c) Clicking 『Start Monitoring』shows the high-speed counter monitor display, in which you may set each
parameter. At this moment, if any, changed values are not saved if power off=> on or mode is changed.

(d) Clicking『FLAG Monitor』 shows the monitor of each flag in high-speed counter, in which you may direct
operation commands by flags (clicking commands reverse turn).

Chapter 5 Built-in PID Function
Chapter 5. Built-in PID Function

5.1 Features of Built-in PID Function
Here describes built-in PID (Proportional Integral Derivative) function. When there is plant (target of control), Control means that the
user changes the status such as velocity, temperature, position, voltage, current etc. as the user wishes. Here describes PID control
that is most frequently used among diverse control methods.
Basic concept of PID control is as follows. First, it detects the PV (Process Value) through sensor and calculates what the difference
with SV (Set value) is. Then it outputs MV (Manipulated Value) for PV to be same with SV.
At this time, 3 types of operation, such as Proportion, Integration, Derivation is executed according to the requirement of the user. PID
control has high compatibility, flexibility, affordability in comparison with Robust control and Linear optimal control. In case of other
control methods, since control device can be applied to the system after mathematical analysis of system, if system or the requirement
of the user changes, the analysis of system is done again. But in case of PID control, PID device copes with change of system or
requirement of the user with simple auto-tunings without analysis of system rapidly.
The figure 5.1 is example indicating system configuration of temperature control of heating system.
<Figure 5.1PID Temperature control system with PLC>
At this time, PLC becomes control device for this system, output temperature of heating system becomes target for control. And
temperature sensor and valve becomes devices to detect and manipulate the status of system respectively. If temperature sensor
detects the output temperature and inputs that to PLC, PLC manipulate the valve status through PID operation and control the quantity
of gas that goes into heating system. So temperature of heating system changes. This process is called control loop and PID control is
executed by repeating the control loop. The control loop is repeated with a cycle of ms ~ s.
The built-in PID control functions of MLU “HP” feature as follows.

(1) Since operations are executed within CPU part, it can be controlled by PID parameters and PLC program without
PID module.
(2) A variety of controls can be selected
▪ That is, a user can easily select P operation, PI operation and PID operation.
(3) Precise control operation
▪ It can make precise PID control operations possible through floating point operations.
(4) PWM (Pulse Width Modulation) output available.
▪ It outputs control operation results to the output contact point designated by a user through PWM.

(5) Improving convenience of control settings and monitoring

▪ Through parameter setting method and K area flag, it maximizes control parameter settings during operation and
convenience of monitoring
(6) Freely selectable operation direction
▪ Forward, reverse and mixed forward/reverse operations are available
(7) Cascade operation realizing quick and precise PID control
▪ It can increase quickness of response to disturbance through cascade loop.
(8) Various additional functions
▪ PID control can be achieved by various methods a user wishes because set value ramp, the present value follow-up,
limiting change of values and types of alarm functions are provided.
5.2 Basic Theory of PID Control

Here describes basic theory of PID control and how to configure PID control.
(1) Terms
Terms used in this user manual are as follows.
▪ PV: status of plant detected by sensor (Process value)

▪ SV: Target value (Set Value) to control plant, if control is done normally, PV should follow the SV.
▪ E: error between SV and PV. It can be expressed as (SV-PV).
▪ Kp: proportional coefficient
▪ Ti: Integral time constant. Sometimes called integral time
▪ Td: Derivative time constant. Sometimes called derivative time
▪ MV: Control input or control device output. The input to plant to make PV follow the V
▪ Ts: Sampling time, a cycle of operation to execute PID control
(2) PID operation expression

Basic PID operation expressions are as follows.
E  SV  PV (5.2.1)
MV P  K P E (5.2.2)
KP
MVi 
Ti  Edt (5.2.3)
dE
MVd  K PTd (5.2.4)
dt
MV  MVP  MVi  MVd (5.2.5)
PID control operation expressions of ML50 series are more complicate than expression (5.2.1) ~ (5.2.5) mathematically but those are
based on the above expression. The followings describe the characteristics of control process with an example that controls the output
temperature of heating system in figure 5.1. At this example, the system and PID parameters imaginary to help the comprehension
and those may be different with real heating system. If the heating system in figure 5.1 is expressed as second order system with
transfer function like expression (5.2.6) in frequency domain, it is expressed as differential equation like expression (5.2.6) in the time
domain.

32 (5.2.6)
Transfer function =
(2s  1)(3s  5))
6 d 2 y (t ) 13 dy(t ) (5.2.7)
  5 y (t )  x(t )
32 dt 2 32 dt
That is, x(t) is Manipulated value and y(t) is Process value.
At this system, we assume that the PID parameter is specified as shown below to describe the PID control operation.
Items Value Items Value

Output temperature of
0℃ Proportional coefficient (KP) 5
heating system (PV)
Target temperature (SV) 50℃ Integral time (Ti) 3s
Cycle of operation 0.01s Derivative time (Td) 0.19s
<Table 5.1 example of control of heating system>
At this system, if we assume that target value of output temperature is 50℃ and initial value of output temperature is 0℃, SV and PV
becomes 50 and 0 respectively. In case of this, PID controller acts as follows.
(3) Proportional control (P control)

In the proportional control, the controller yields output that is proportional to error.
Manipulated value of controller by Proportional control is as follows.
MV P  E  K P (5.2.8)
(a) If P control starts, output of controller by initial P operation is as follows.
MV0  50  5  250
(5.2.9)

If P control is executed for 10 seconds, output temperature will be as table 5.2.

If this is expressed with graph, it will be as Figure 5.2.
Proportional
Time Target temp. Output temp. Error
coefficient
0 50 5 0 50
1 50 5 44.98 5.02
2 50 5 53.08 -3.08
3 50 5 50.15 -0.15
4 50 5 48.42 1.58
5 50 5 48.28 1.72
6 50 5 48.44 1.56
7 50 5 48.49 1.51
8 50 5 48.49 1.51
9 50 5 48.49 1.51
< Table 5.2 example of Proportional control >
Max. overshoot
Offset
< Figure5.2 simulation of proportional control >
(b) Concerning the result of simulation, it has the maximum overshoot of about 23.4℃at 0.62s and after 7s, it converges at 48.49℃
with offset of 1.51℃(about 3%).

(c) Offset is an unavoidable error when only P control is executed. Offset decreases proportional to P coefficient but overshoot
increases proportional to P coefficient. Table 5.3 and Figure 5.3 is simulation of offset and overshoot according to P coefficient.
Target
Time Kp = 5 Kp = 2.5 Kp = 1
temperature
0 50 0 0 0
1 50 45.02 63.46 46.67
2 50 53.11 42.52 46.77
3 50 50.15 47.93 41.38
4 50 50.22 47.25 41.60
5 50 48.27 46.96 43.30
6 50 48.35 46.92 43.25
7 50 48.44 46.90 43.21
8 50 48.53 46.90 43.18
9 50 48.53 46.90 43.18
<Table 5.3 Temperature- time table according to P coefficient>
< Figure 5.3 Temperature- time graph according to P coefficient >
(c) Considering table 5.3, as P coefficient decreases, offset increases but overshoot decreases.
(d) Generally, offset can’t be solved with only P control. In order to remove the offset, P control and I control is used together.

(4) Proportional Integral Control (PI Control)

In I control, it yields the output proportional to error accumulated according to time. And the expression is as follows.
KP
 Edt
(5.2.9)
MVi 
Ti
(a) In the expression 5.2.9, Ti means the time takes for MVi, output by I control, to be added into real output.
(b) Generally, I control is used with P control. So the expression of PI control is as follows.
KP
 Edt
MV  MV P  MVi  E  K P  (5.2.10)
Ti
(c) In the above heating system, the simulation results are as shown in the table 5.4 when proportional coefficient is 2.5 and
integral time is 1.5s.
Proportional
Time Target temp. Integral time P Control PI Control
coefficient
0 50 2.5 1.5 0 0
1 50 2.5 1.5 63.46 74.41
2 50 2.5 1.5 42.52 40.63
3 50 2.5 1.5 47.93 52.99
4 50 2.5 1.5 47.05 49.67
5 50 2.5 1.5 46.96 49.70
6 50 2.5 1.5 47.12 50.38
7 50 2.5 1.5 47.03 49.76
8 50 2.5 1.5 47.07 50.14
9 50 2.5 1.5 47.06 49.94
10 50 2.5 1.5 47.06 50.02
11 50 2.5 1.5 47.06 49.99
12 50 2.5 1.5 47.06 50.00
13 50 2.5 1.5 47.06 50.00
14 50 2.5 1.5 47.06 50.00
15 50 2.5 1.5 47.06 50.00
< Table 5.4 Temperature- time table according to P coefficient >
(d) Considering table 5.4 and Figure 5.4, if P and I control is used together, offset is removed and temp. converges at 50℃, target
temp. after 12s

(e) But in this case, convergence time is longer than that of P control and overshoot is larger. Generally, as integral time increases,
overshoot decrease. About this, refer to the Figure 5.5.
< Figure5.4 Temp.- time graph >
< Figure 5.5 overshoot according to integral time >
(f) Like this, if I control is used, overshoot is larger. According to system, large overshoot can be problem. In order to solve this, PID
control is used.
(5) Proportional integral derivative control (PID control)

In D control, when status of system changes rapidly, D control yields the output to reduce the error. Namely, D control yields the
output proportional to change velocity of current status. So if D control is used, response speed of controller about status change
of system increases, and overshoot decreases. Output of controller by D control is as shown in expression 5.2.11.
dE (5.2.11)
MVd  K PTd
dt

(a) In the expression 5.2.11, Td means the time takes for MVd output by I control, to be added into real output.
(b) Generally, D control is not used solely but with PD control. So PID control is expressed as expression 5.2.12.
KP

dE (5.2.12)
MV  MV P  MVi  MVd  E  K P  Edt  K pTd
Ti dt
(c) The Figure 5.6 is simulation result when PID control is applied to above heating system.
Target Proportional Integral Derivative PI PID

Time
temp. coefficient time time Control Control
0 50 2.5 1.5 0.3 0 0
1 50 2.5 1.5 0.3 74.41 55.50
2 50 2.5 1.5 0.3 40.63 56.33
3 50 2.5 1.5 0.3 52.99 52.50
4 50 2.5 1.5 0.3 49.67 50.92
5 50 2.5 1.5 0.3 49.70 50.34
6 50 2.5 1.5 0.3 50.38 50.12
7 50 2.5 1.5 0.3 49.76 50.05
8 50 2.5 1.5 0.3 50.14 50.02
9 50 2.5 1.5 0.3 49.94 50.01
10 50 2.5 1.5 0.3 50.02 50.00
11 50 2.5 1.5 0.3 49.99 50.00
12 50 2.5 1.5 0.3 50.00 50.00
13 50 2.5 1.5 0.3 50.00 50.00
< Table 5.5 comparison of PI control and PID control >
< Figure 5.6 comparison of PI control and PID control >
(d) Considering table 5.5, in case PID control is used, max. overshoot decreases from 16.5℃ to 8.5℃. At this time, P coefficient,
integral time, derivative time are not optimal values, just one of the examples. Actually, P coefficient, integral time, derivative
time values vary according to PID control system.

5.3 Functional Specifications of PID Control

The performance specifications of the built-in PID control function in ML50 series are summarized in the below table.
Item Specifications
No. of loops 16 Loop
Proportional constant(P) Real number (0 ~ 3.40282347e+38)
Scope of
setting PID Integral constant(I) Real number (0 ~ 3.40282347e+38), unit: second
constants
Differential constant(D) Real number (0 ~ 3.40282347e+38), unit: second
Scope of set value INT (-32,768 ~ 32,767)
Scope of present value INT (-32,768 ~ 32,767)
Scope of maneuver value INT (-32,768 ~ 32,767)
Scope of manual maneuver value INT (-32,768 ~ 32,767)
Operation: PID RUN Flag On (by loops)
RUN/STOP
Stop: PID RUN Flag Off (by loops)
Normal: PID Error Flag Off (by loops)
Indication Error Error: PID Error Flag On,
Error code occurrence (by loops)
Normal: PID Warning Flag Off (by loops)
Warning Error: PID Warning Flag On,
Warnig code occurrence (by loops)
Control operation Control of P,PI,PD and PID, control of forward/reverse operation
Control interval 10.0ms ~ 6,553.6ms (0.1msUnit)
PWM output Supportable
Mixed forward/reverse
Supportable
output
Limiting change of
INT (-32,768 ~ 32,767)
present value
Limiting change of
INT (-32,768 ~ 32,767)
maneuver value
Equally dividing set
Additional 0 ~ 65,536 (frequency of control cycle time)
value
functions Present value follow-up 0 ~ 65,536 (frequency of control cycle time)
Cascade control Supportable.
Min./max. present value -32,768 ~ 32,767
Differential filter 0.01 ~ 655.35 (x 100 Scaled Up)
Dead band setting 0 ~ 65,535
Prevention of dual
Supportable
integral accumulation
PID operation pause Supportable
< Table 5.6 built-in PID control performance specification >

5.4 Usage of PID Control Functions

5.4.1 PID Control Parameter Setting
To use the built-in PID control function of ML50 series, it is necessary to set PID control parameters by loops in the parameter
window and operate it though the commands. Here, it explains parameters to use PID control functions and how to set them.
(1) PID parameter settings

Follow the steps below to set the PID control function parameters of ML50 series.
(a) If selecting the built-in parameters in Parameter of the project window, it shows the built-in parameter setting window as in
below figure.
< Figure 5.7 Parameters setting window >
(b) If selecting PID Control, it shows the PID control parameter setting window as in below figure.
[ Figure 5.8 Built-in PID function parameters setting window ]

(c) Input items

The items to set in the built-in PID function parameter window and the available scope of them are summarized in below table.
Items Description Scope
RUN mode Set the operation mode of PID control. Auto/manual operation
RUN direction Set the operation direction of PID control. Forward/reverse
Prevention of dual integral
Set whether to allow dual integral accumulation. Disabled/enabled
accumulation
PWM output Set whether to allow PWM output of maneuver value. Disabled/enabled
Operation cycle time Set the operation cycle time of PID control cycle. 100 ~ 65535
Set value Set target control value. -32,768 ~ 32,767
Proportional gain Set proportional gain. Real number
Integral time Set integral time. Real number
Differential time Set differential time. Real number
Limiting change of present value Set the limited change of present value per operation cycle. -32,768 ~ 32,767
Limiting change of maneuver value Set the limited change of maneuver value per operation cycle. -32,768 ~ 32,767
Max. maneuver value Set the max. maneuver value for control. -32,768 ~ 32,767
Min. maneuver value Set the min. maneuver value for control. -32,768 ~ 32,767
Manual maneuver value Set the manual maneuver value for control. -32,768 ~ 32,767
DeadBand setting Set the deadband width of the set value. 0 ~ 65,535
Differential filter value Set the filter coefficient of differential operation. 0 ~ 65,535
PWM junction Set the junction to which PWM output is out. P20 ~ P3F
PWM output cycle Set the output cycle of PWM output. 100 ~ 65,535
Set value ramp Set the frequency of set value ramp. 0 ~ 65,535
Present value follow-up Set the follow-up frequency of the present value follow-up function. 0 ~ 65,535
Min. present value Set the min. value of the input present value. -32,768 ~ 32,767
Max. present value Set the max. value of input present value. -32,768 ~ 32,767
< Table 5.7 PID function parameter setting items >
(2) Description of Setting of PID Parameters
(a) Operation mode

It is the mode to set the operation for PID control of a loop in question.
The available scope is automatic operation or manual operation.
If automatic operation is selected, it outputs the PID control result internally operated by the input PID control parameter as the
maneuver value while if manual operation is selected, it outputs the value input to the manual maneuver value parameter
without PID operation modified. The default is automatic operation.
(b) Operation direction

It is designed to set the operation direction for PID control of a loop in question. The available scope is forward or reverse
direction. At the moment, forward direction means increase of PV when MV increases; reverse direction means decrease PV
when MV increases. For instance, a heater is a kind of forward direction system because PV(temperature) increases when
output(heating) increases. A refrigerator is a kind of reverse direction system in which PV(temperature) decreases when
output increases.

(c) Prevention of dual integral accumulation

It makes dual integral accumulation function enabled/disabled. To understand integral accumulation prevention function, it is
necessary to explain the phenomenon of integral accumulation first of all. Every drive has a limit. That is, a motor is limited to
the speed and a valve can become status overcoming the complete open/close. If it happens that MV output from a control is
beyond the output limit of a drive, its output is maintained as saturated, which may deteriorate the control performance of a
system and shorten the life of a drive. Formula (5.2.3) shows that the integral control among PID control output components
accumulates errors as time goes on, from which it may take more time to return the normal status after the actuator is
saturated in a system of which response characteristically is slow. It is so called integral accumulation phenomenon as
illustrated in Fig. 5.9, which shows that if the initial error is very large, the error is continuously accumulated by integral control.
Accordingly, a drive is saturated within its output upper limit while the control signal is getting larger, keeping being saturated for
a long while until the drift becomes negative and the integral term turns small enough. Due to the operation, the PV may have
a large over-shoot as seen in the figure. Such a wind-up phenomenon may occur if the initial drift is large or by a large
disturbance or due to malfunction of a device.
The PID function of ML50 series is basically with the integral accumulation prevention function, cutting off any integral
accumulation phenomenon. In addition, it can detect a time when SV is suddenly decreased, providing a more strong dual
integral accumulation prevention function.
Drive saturation
PV Upper limit of drive output
Target
value
MV
Integral accumulation phenomenon
Time
< Figure 5.9 Integral accumulation phenomenon >
(d) PWM Output Enabled

PWM output means an output method to turn a junction on – off with a duty proportional to control output calculated by a
uniform output cycle. If PWM output is enabled, it realizes PWM output in accordance with PWM output cycle set in the
parameter of PWM output junction(%QX0.0.0 ~ 0.0.31)designated in the parameter. At the moment, the PWM output cycle
follows the PWM output cycle separately set in PID operation cycle. PWM output cycle is available between 10ms ~
6553.5ms (setting value: 100 ~ 65,535) while it is set at a unit of integer per 0.1ms.
(Be aware, actual PWM output value have max. 2ms output err)
figure shows the relation between PID control output and PWM output.
Ex) if PWM output cycle: 1 second, PWM output junction: %QX0.0.0, max. output: 10000, min. output: 0
Time Output %QX0.0.0 junction operation
0 sec 5000 0.5 sec On, 0.5 sec Off
1 sec 3000 0.3 sec On, 0.7 sec Off

MV = 5000 MV = 3000
0.5sec 0.5sec 0.3sec 0.7sec
P20 output 출력
(%QX0.0.0 주기 =
output) 1초
Time
Output cycle = 1sec Output cycle = 1sec
[ Figure 5.10 Relation between PWM output cycle and MV ]
(e) Set value

It sets the target of a loop in question, that is, the target status a user wishes to control. In case of the PID control built in ML50,
physical values (temperature, flow rate, pressure and etc) of an object to control is not meaningful and instead, it should use
the physical amount of an object to control after converting them into numerals. For instance, in order to control a system using
a sensor that the output is 0V when its heating device temperature is 0℃ while it is 10V when the temperature is 100℃ as
much as 50℃, it is necessary to set SV as 2000 (as long as it uses AD input module MLE-AD04A).
(f) Operation cycle

It sets the cycle to yield control output by executing the built-in PID operation. The setting cycle is 0.1ms and available between
10ms ~ 6553.5ms (setting value: 100 ~ 65,535) while it is set at a unit of integer per 0.1ms. For instance, to set PID operation
per 100ms, set the operation cycle as 1000.
(g) Proportional gain

It is intended to set the proportional coefficient of a PID loop in question (Kp). As larger Kp, the proportional control operation is
getting stronger. The scope is real number.
(h) Integral time

It sets the integral time of PID loop in question (Ti). As larger the integral time, the integral operation is getting weaker. The
scope is real number at the unit of second.
(i) Differential time

It sets the differential time of PID loop in question (Td). As larger the differential time, the differential operation is getting stronger.
The scope is real number at the unit of second.
(j) Limiting change of present value

It sets the limit of change in present value of PID loop in question. If PV suddenly changes due to signal components such as
sensor’s malfunction, noise or disturbance during control of PID, it may cause sudden change of PID control output. To
prevent the phenomenon, a user can set the max. limit of change in present value that is allowed per PID operation cycle. If
the change of present value is limited accordingly, it may calculate the present value as much as the limit although the present
value is changed more than the limit once the limit of change in present value is set. If using the PV change limit function, it
may prevent against sudden change of control output owing to noise or etc. If it is, however, set too small, it may reduce the
response speed to the PV change of an actual system, not to sudden change by noise or etc, so it is necessary to set the
value appropriately according to the environment of a system to control in order that the PV toward the set value does not take
a longer time. The available scope is between -32,768~32,767. If setting the PV change limit as 0, the function is not available.

(k) Limiting change of MV (ΔMV function)

It limits the max. size that control output, which is output by PID operation is changed at a time. The output MV in this operation
cycle is not changed more than the max. change limit set in the previous operation cycle. The function has an effect to prevent
a drive from operating excessively due to sudden change of output by preventing sudden change of output resulting from
instantaneous change of set value. If it is, however, set too small, it may cause taking a longer time until PV reaches to its
target, so it is necessary to adjust it appropriately. The available scope is between -32,768 ~ 32,767. If setting it as 0, the
function does not work.
(l) Max. MV
It sets the max. value of control output that may be output by the result of PID operation. The available scope is between -
32,768 ~ 32,767. if it exceeds the max. output designated by PID operation result, it outputs the set max. output and alerts the
max. output excess warning. For the types and description of warnings, refer to Error/Warning Codes.
(m) Min. MV
It sets the min. value of control output that may be output by the result of PID operation. The available scope is between -
32,768 ~ 32,767. If it is smaller than the min. output value designated by PID operation result, it outputs the set min. MV and
alerts the min. output shortage warning. For the types and description of warnings, refer to Error/Warning Codes.
(n) Manual MV
It sets the output when the operation mode is manual. The available scope is between -32,768 ~ 32,767.
(o) DeadBand setting

It sets the deadband between set value and present value. Although it may be important to reduce normal status reply of PV
for its set value even when MV fluctuates heavily, depending on control system, it may be more important to reduce the
frequent change of MV although the normal status reply is somewhat getting larger. DeadBand may be useful in the case.
Below figure shows an example of DeadBand setting.
DeadBand
PV
[ Figure 5.11 Example of DeadBand setting ]
If setting deadband as in the figure, the PID control built in ML50 may regard the error between PV and set value as 0 as long
as PV is within the available scope of deadband from set value.
That is, in this case, the change of MV is reduced. The available scope of setting is between 0 ~ 65,535 and if it is set as 0, it
does not work.

(o) Differential Filter Value Setting

It sets the coefficient of differential filter. Since differential control outputs in proportion to gradient of error and gradient of PV
change, it may suddenly change MV as it generates a large response to instantaneous noise or disturbance. To prevent it,
ML50 series uses a value to which PV is filtered mathematically for differential control. Differential filter value is the coefficient to
determine the filter degree for differential control. As smaller differential value set, as stronger differential operation is. The
available scope is between 0 ~ 65,535 and if it is set as 0, the differential filter does not work.
(p) Setting set value ramp

Since the drift is suddenly large if SV is heavily changed during PID control, MV is also changed heavily to correct it. Such an
operation may cause excessive operation of a system to control and a drive. To prevent it, SV ramp is used, changing SV
gradually step by step when modifying SV during operation. If using the function, SV is gradually changed by SV ramp when
SV is changed during PID control. At the moment, SV ramp setting represents the frequency of PID operation cycle taken
from when SV starts changing to when it reaches to the final SV. For instance, if SV is to be changed from 1000 to 2000
during operation as PID operation cycle is 10ms and its SV ramp is 500, SV may reach to 2000 after 500X10ms = 5 seconds,
that is, as it increases each 2 per operation cycle and after the 500th operation scans. The available scope of setting is
between 0 ~65,535 and it is set as 0, it does not work.
If SV Ramp is not used
Modified 시간
SV
If SV Ramp is used
Existing SV * operation
SV cycle
T
i
Sof t Mast er
m
[ Figure 5.12 SV Ramp function ] e
(q) PV Follow-up setting

It is intended to prevent any excessive operation of a drive resulting from sudden change of output at the initial control and
changes SV gradually from PV at the time when PID operation starts, not directly to SV in case control just turns from stop to
operation mode or it changes from manual to automatic operation. At the moment, SV represents the frequency of PID
operation cycles taken from when control starts to when it reaches to the set SV (other operations are same as SV ramp
function). The available scope is between 0 ~ 65,535. If SV is changed again while PV follow-up is in operation, the SV would
be also changed according to SV ramp.
(r) Min./max. PV
It sets the min./max. value entered as the present value of PID control. The available scope is between -32,768 ~ 32,767.

5.4.2 PID Flags

The parameter set by the ML50 series built-in PID control function is saved into the flash memory of the basic unit. Such
parameters are moved to K area for the built-in PID function as soon as PLC turns from STOP to RUN mode. PID control
operation by PID control command is executed through K area data for PID functions. Therefore, if a user changes the value in
the trend monitor window or variable monitor window during operation, PID operation is executed by the changed value. At the
moment, if PLC is changed to RUN again after being changed to STOP, it loads the parameters in flash memory to K area, so
the data changed in K area is lost. Thus, to keep applying the parameters adjusted in K area, it is necessary to write the
parameter set in K area to flash memory by using WRT command. (In case of IEC, APM_WRT)
(1) PID Flag Configuration

K area flags for ML50 series built-in PID control function are summarized in the below table.
Data
Loop K area IEC type Symbol Default Description
type
PID output designation
K12000~F %KX19200~15 _PID_MAN Bit Auto
(0:auto, 1:manual)
K12010~F %KX19216~31 _PID_PAUSE Bit RUN PID pause (0:RUN, 1:pause)
Control direction(0:forward,
K12020~F %KX19232~47 _PID_REV Bit Forward
1:reverse) operation control
Dual integral accumulation
K12030~F %KX19248~63 _PID_AW2D Bit Disabled Prevention
(0:enabled, 1:disabled)
PID remote operation
K12040~F %KX19264~79 _PID_REM_RUN Bit Disabled
(0:disabled, 1:enabled)
Common K1205~K1207 %KW1205~%KW1207 Reserved WORD - Reserved area

PWM output enable
K12080~F %KX19328~43 _PID_PWM_EN Bit Disabled
PID operation indication
K12090~F %KX19344~59 _PID_STD Bit -
(0:stop, 1:run)
PID warning
K12100~F %KX19360~75 _PID_ALARM Bit -
(0:normal, 1:warning)
K12110~F %KX19376~91 _PID_ERROR Bit - PID error(0:normal, 1:error)
PID MV BuMPLess changeover
K12120~F %KX19392~407 _PID_MV_BMPL Bit Disabled
K1213~K1215 %KW1213~%KW1215 Reserved WORD - Reserved
K1216 %KW1216 _PID00_SV INT 0 PID SV
K1217 %KW1217 _PID00_T_s WORD 100 PID operation cycle[0.1ms]
K1218 %KD609 _PID00_K_p REAL 1 PID proportional constant
K1220 %KD610 _PID00_T_i REAL 0 PID integral time[sec]
K1222 %KD611 _PID00_T_d REAL 0 PID differential time[sec]
Loop 0 K1224 %KW1224 _PID00_d_PV_max WORD 0 PID PV change limit
K1225 %KW1225 _PID00_d_MV_max WORD 0 PID MV change limit
K1226 %KW1226 _PID00_MV_max INT 4000 PID MV max. value limit
K1227 %KW1227 _PID00_MV_min INT 0 PID MV min. value limit
K1228 %KW1228 _PID00_MV_man INT 0 PID manual output
K1229 %KW1229 _PID00_PV INT - PID PV

< Table 5.8 K area flags for PID control >

Data
Loop K area IEC type Symbol Default Description
type
K1230 %KW1230 _PID00_PV_old INT - PID PV of previous cycle
K1231 %KW1231 _PID00_MV INT 0 PID MV
K1232 %KD616 _PID00_ERR DINT - PID control error

PID MV proportional value
K1234 %KD617 _PID00_MV_p REAL 0
component
PID MV integral control
K1236 %KD618 _PID00_Mv_i REAL 0
component
PID MV differential control
K1238 %KD619 _PID00_MV_d REAL 0
component
K1240 %KW1240 _PID00_DB_W WORD 0 PID deadband setting
K1241 %KW1241 _PID00_Td_lag WORD 0 PID differential filter coefficient

Loop 0
K1242 %KW1242 _PID00_PWM WORD H’20 PID PWM junction setting
K1243 %KW1243 _PID00_PWM_Prd WORD 100 PID PWM output cycle
K1244 %KW1244 _PID00_SV_RAMP WORD 0 PID SV Ramp value
K1245 %KW1245 _PID00_PV_Track WORD 0 PID PV follow-up setting
K1246 %KW1246 _PID00_PV_MIN INT 0 PID PV min. value limit
K1247 %KW1247 _PID00_PV_MAX INT 4000 PID PV max. value limit
K1248 %KW1248 _PID00_ALM_CODE Word 0 PID warning code
K1249 %KW1249 _PID00_ERR_CODE Word 0 PID error code

K1250 %KW1250 _PID00_CUR_SV INT 0 PID SV of current cycle
K1251-1255 %KW1251-1255 Reserved WORD - Reserved area
Loop 1 K1256~K1295 %KW1256~%KW1295 - - - PID Loop1 control parameter
~
Loop16 K1816~K1855 %KW1816~%KW1855 - - - PID Loop16 control parameter
< Table 5.8 K area flags for PID control (continued) >
K1200 ~ K1211 areas are the common bit areas of PID loops while each bit represents the status of each PID control loop.
Therefore, each 16 bits, the max number of loops of ML50 PID control represents loop status and setting respectively. K1216 ~
K1255 areas are K areas for PID control loop 0 and save the loop 0 setting and status. It also contains parameters such as SV,
operation cycle, proportional coefficient, integral time and differential time set in the built-in parameter window and the ML50 built-
in PID function executes PID control by each device value in question. In addition, the output data such as MV calculated and
output while PID control is executed is also saved into the K areas. By changing the values in K areas, control setting may be
changed any time during PID control.
Remark
By changing value of area, you can change control setting whenever you want during the PID control
1) PID control flag expression : _PID[n]_xxx
 [n] : loop number
 xxx : flag function
Ex) _PID10_K_p : means K_p of loop 10.

(2) PID flag function

Each function of K area flags for ML50 series built-in PID control function is summarized as follows.
(a) Common bit area

The area is a flag collecting operation setting and information consisting of bits to each 16 loop. Each bit of each word device
represents the information of each loop. That is, ‘n’ th bit represents the information about PID loop n.
1) _PID_MAN (PID RUN mode setting)
Flag name address IEC type address Unit Setting

_PID_MAN
K1200n %KX19200 + n BIT Available
(PID RUN mode setting)
It determines whether to operate the PID control of n loop automatically or manually. For more information about RUN
mode, refer to 5.4.1 PID control parameter setting. If the bit is off, it operates automatically; if on, it runs manually.
2) _PID_PAUSE (PID Pause setting)
Flag name Address IEC type address Unit Setting

_PID_PAUSE (PID pause setting) K1201n %KX19216 + n BIT Available
It changes PID control of n loop to pause status. If PID control is paused, the control MV is fixed as the output at the time
of pause. At the moment, PID operation is continued internally with output fixed. If changing pause status to operation
status again, it resumes control, so it may take a longer time until the PV is going to SV once system status is largely
changed during pause. If the bit is off, it cancels pause; if on, it operates as paused.
3) _PID_REV (PID RUN direction setting)

_PID_REV
(PID RUN direction setting)
It sets the RUN direction of PID control of ‘n’th loop. For more information about run direction, refer to 7.2.3 PID control
parameter setting. If the bit is off, it operates normally; if on, it operates reversely.
4) _PID_AW2D (Dual Integral accumulation prevention setting)

_PID_AW2D
(dual integral accumulation prevention K1203n %KX19248 + n BIT Available
setting)
1.1
It sets enable/disable of dual integral accumulation prevention of ‘n’th loop. For more information about dual
integral accumulation prevention, refer to 7.2.3 PID control parameter setting. If the bit is off, it is enabled; if
on, it is disabled.

5) _PID_REM_RUN (PID remote operation setting)

_PID_REM_RUN
(PID remote run setting)
ML50 series built-in PID function can be started by both run from command’s start junction and remote run bit setting.
That is, ML50 starts PID control if PIDRUN command’s start junction is on or remote run setting bit is on. Namely, if one
of them is on, it executed PID control.
6) _PID_PWM_EN (PWM output enable)

_PID_PWM_EN
(PWM output enable)
It determines whether to output the MV of PID control of ‘n’th loop as PWM output. For more information about PWM
output, refer to 5.2.3 PID control parameter setting. If the bit is off, it is disabled; if on, it is enabled.
7) _PID_STD (PID RUN status indication)

_PID_STD
K1209n %KX19344 + n BIT Unavailable
(PID RUN status indication)
It indicates the PID control RUN status of ‘n’ th loop. If a loop is running or paused, it is on while if it stops or has an error
during RUN, it is off. In the area as monitoring area, it is changed to the current run status by PLC although a user enters
any value temporarily.
8) _PID_ALARM (PID Warning occurrence)

_PID_ALARM
(PID Warning occurrence)
It indicates warning if any warning occurs during PID control of ‘n’th loop. Once a warning occurs during PID control
operation of a loop, it is on while if it is normal, it is off. At the moment, despite of warning, PID control continues without
interruption, but it is desirable to check warning information and take a proper measure. Once a warning occurs, the
warning code is also indicated in warning code area of a loop. For more information about the types of warning codes
and measures, refer to 5.5. In the area as monitoring area, it is changed to the current run status by PLC although a user
enters any value temporarily.
9) _PID_ERROR (PID Error occurrence)

_PID_ERROR
(PID error occurrence)
IIf an error that discontinues running during PID control of ‘n’ th loop occurs, it indicates the error’s occurrence. If an error
generates warning, it is on; if normal, it is off. When an error occurs, PID control stops and MV is output as the min. output

set in parameter. Also, if an error occurs, the error code is indicated in the error code area of a loop. For more information
about type of error codes and measures, refer to 5.5. In the area as monitoring area, it is changed to the current run
status by PLC although a user enters any value temporarily.
10) _PID_MV_BMPL (PID MV BuMPLess changeover)

_PID_MV_BMPL
(PID MV BuMPLess changeover)
This allows to not only determine an appropriate MV value through operation so that MV can continue smoothly when the
corresponding PID loop changes from manual to auto output mode, but also reflect the MV value to the internal state so
as to stabilize MV. This function shows an algorithm difference between single operation and cascade operation, but both
operations are performed by this bit.
If the corresponding bit (in cascade operation, the corresponding bit of the master/slave loop is On) is On, Bumpless
changeover is performed. If it is Off, The [Default] Bumpless changeover function is Disabled
(b) PID Flag area by loops

PID flag areas by loops are allocated between K1216 ~ K1855(%KW1216 ~ %KW1855) and for totally 16 loops, each 40
words is allocated per loop. Therefore, the individual data areas of ‘n’ th loop are between K (1216+16*n) ~ K
(1255+16*n)(%KW(1216+16*n) ~%KW(1255+16*n)). Every setting of the PID flag areas by loops may be changed during
PID control operation. Once the settings are changed, they are applied from the next PID control cycle.
1) _PIDxx_SV (PID xx Loop SV setting)
Flag name Address IEC type address Unit Scope

I _PIDxx_SV
K1216+16*xx %KW1216+16*xx INT -32,768 ~ 32,767
t (PID xx Loop SV setting)
It sets/indicates the SV of PID control of ‘xx’ th loop. For more information about SV, refer to 5.2.3 PID control parameter
setting. The available scope is between -32,768 ~ 32,767.
2) _PIDxx_T_s (PID xx Loop operation cycle)

_PIDxx_T_s
K1217+16*xx %KW1217+16*xx WORD 100 ~ 65,535
(PID xx Loop operation cycle)
It sets/indicates the operation cycle of PID control of ‘xx’ th loop. For more information about operation cycle, refer to 5.2.3
PID control parameter setting. The available scope is between 100 ~ 65,535.
3) _PIDxx_K_p (PID xx Loop proportional constant)

_PIDxx_K_p
K1218+16*xx %KD609+20*xx REAL Real number
(PID xx Loop proportional constant)
It sets/indicates the proportional constant of PID control of ‘xx’ th loop. For more information about proportional constant,
refer to 7.2.3 PID Control Parameter Setting.

The available scope is real number (-3.40282347e+38 ~ -1.17549435e-38 , 0 , 1.17549435e-38 ~ 3.40282347e+38). If it

is, however, set as 0 and lower, the PID control of a loop generates an error and does not work.
4) _PIDxx_T_i (PID xx Loop Integral time)

_PIDxx_T_i
(PID xx Loop integral time)
It sets/indicates integral time of PID control of ‘xx’ th loop. The available scope is real number. If it is set as 0 and lower, it
does not execute integral control.
5) _PIDxx_T_d (PID xx Loop differential time)

_PIDxx_T_d
(PID xx Loop differential time)
It sets/indicates differential time of PID control of ‘xx’ th loop. The available scope is real number. If it is set as 0 and lower,
it does not execute differential control.
6) _PIDxx_d_PV_max (PV change limit)

_PIDxx_d_PV_max
K1224+16*xx %KW1224+16*xx WORD 0 ~ 65,535
(PV change limit)
It sets the PV change limit of ‘xx’ th loop.

For more information about PV change limit, refer to 5.2.3 PID control parameter setting. If it is set as 0, the
PV change limit function does not work.
7) _PIDxx_d_MV_max (MV change limit)

_PIDxx_d_MV_max
K1225+16*xx %KW1225+16*xx WORD 0 ~ 65,535
(MV change limit)
It sets the MV change limit of ‘xx’th loop. For more information about MV change limit, refer to 5.2.3 PID
control parameter setting. If it is set as 0, the MV change limit function does not work.

8) _PIDxx_MV_max, _PIDxx_MV_min, _PIDxx_MV_man (max. MV, min. MV, manual MV)

_PIDxx_MV_max (max. MV) K1226+16*xx %KW1226+16*xx
_PIDxx_MV_min (min. MV) K1227+16*xx %KW K1227+16*xx INT -32,768 ~ 32,767
_PIDxx_MV_man (manual MV) K1228+16*xx %KW K1228+16*xx
It sets the max. MV, min. MV and manual MV of ‘xx’ th loop. For more information about max. MV, min. MV and manual
MV, refer to 5.2.3 PID control parameter setting. If the max. MV is set lower than the min. MV, the PID control loop
generates an error and does not work.
9) _PIDxx_PV (prevent value)

_PIDxx_PV
K1229+16*xx %KW1229+16*xx INT -32,768 ~ 32,767
(present value)
It is the area that receives the present value of ‘xx’ th PID control loop. PV is the present status of the system to control
and is normally saved into U device via input devices such as A/D input module if it is entered from a sensor. The value is
used to execute PID operation by moving to _PIDxx_PV by means of commands like MOV.
10) _PIDxx_PV_OLD (PV of previous control cycle)

_PIDxx_PV_OLD
K1230+16*xx %KW1230+16*xx INT Unavailable
(PV of previous control cycle)
The area indicates the PV just before the xx th PID control loop. The flag, as a dedicated monitoring flag, would be
updated by PLC although a user directly enters it.
11) _PIDxx_MV (Control MV)

_PIDxx_MV (control MV) K1231+16*xx %KW1231+16*xx INT Unavailable
The area shows the MV of ‘xx’ th PID control loop. As the area in which ML50 built-in PID operation result is output every
PID control cycle, it delivers the value in the area to U device every scanning by using commands like MOV in the
program and outputs to D/A output module, operating a drive.

12) _PIDxx_ERR (Present error)

_PIDxx_ERR
K1232+16*xx %KW1232+16*xx DINT Unavailable
(present error)
The areas shows the current error of ‘xx’ th PID control loop. It is also used as an indicator about how much gap the
present status has with a desired status and if an error is 0, it means the control system reaches a desired status exactly.
Therefore, if control starts, error is quickly reduced at transient state and it reaches normal state, maintaining remaining
drift as 0, it could be an ideal control system. The flag, as a dedicated monitoring, is updated although a user directly
enters it.
13) _PIDxx_MV_p, _PIDxx_MV_i, _PIDxx_MV_d (P/I/D control components of MV)

_PIDxx_MV_p
K1234+16*xx %KD616+20*xx
(MV proportional control component)
_PIDxx_MV_i
K1236+16*xx %KD617+20*xx REAL Unavailable
(MV integral control component)
_PIDxx_MV_d
K1238+16*xx %KD618+20*xx
(MV differential control component)
It indicates ‘n’ th loop MV by classifying proportional control MV, integral control max. MV and differential control MV. The
entire MV consists of the sum of these three components. The flag, as a dedicated monitoring, is updated although a
user directly enters it.
14) _PIDxx_DB_W (DeadBand setting)

_PIDxx_DB_W
K1240+16*xx %KW1232+16*xx WORD 0 ~ 65,535
(DeadBand setting)
It sets the deadband of ‘xx’ th loop. For more information about Deadband function, refer to 5.2.3 PID control parameter
setting. If it is set as 0, the function does not work.
15) _PIDxx_Td_lag (Differential filter coefficient)

_PIDxx_Td_lag
K1241+16*xx %KW1241+16*xx WORD 0 ~ 65,535
(differential filter coefficient)
It sets the differential filter coefficient of ‘xx’ th loop. For more information about differential filter coefficient, refer to 5.2.3
PID control parameter setting. If it is set as 0, the function does not work.

16) _PIDxx_PWM (PWM output junction setting)

_PID00_PWM
K1242+16*xx %KW1242+16*xx WORD H’20 ~ H’3F
(PWM output junction setting)
It sets the junction to which PWM output of ‘xx’ th loop is output. PWM output junction is valid only between H’20 ~ H’3F. If
any other value is entered, PWM output does not work.
17) _PIDxx_PWM_Prd (PWM Output cycle setting)

_PIDxx_PWM_Prd
K1243+16*xx %KW1243+16*xx WORD 100 ~ 65,535
(PWM output cycle setting)
It sets the PWM output cycle of ‘xx’ th loop. The available scope is between 100 ~ 65,535 at the unit of 0.1ms.
18) _PIDxx_SV_RAMP (SV ramp setting)

_PIDxx_SV_RAMP
K1244+16*xx %KW1244+16*xx WORD 0 ~ 65,535
(SV ramp setting)
It sets the SV ramp value of ‘xx’ th loop. For more information about SV ramp of PV, refer to 5.2.3 PID control parameter
19) _PIDxx_PV_Track (PV follow-up setting)

_PIDxx_PV_Track
K1245+16*xx %KW1245+16*xx WORD 0 ~ 65,535
(PV follow-up setting)
It sets the PV follow-up SV of ‘xx’ th loop. For more information about PV follow-up, refer to 5.2.3 PID control parameter
20) _PIDxx_PV_MIN, _PIDxx_PV_MAX(Min. PV input, Max. PV input)

_PIDxx_MV_p
K1246+16*xx %KW1246+16*xx
(MV proportional control component)
INT -32,768 ~ 32,767
_PIDxx_MV_i
K1247+16*xx %KW1247+16*xx
(MV integral control component)
It sets the min./max. PV of ‘xx’ th loop.

21) _PIDxx_ALM_CODE (Warning code)

_PIDxx_ALM_CODE
K1248+16*xx %KW1248+16*xx WORD Unavailable
(Warning code)
It indicates warning code if a warning occurs during ‘xx’ th loop run. The flag, as a dedicated monitoring, is updated
although a user directly enters it. For more information about warning code, refer to 5.5.
22) _PIDxx_ERR_CODE (Error code)

_PIDxx_ERR_CODE
(error code)
It indicates error code if an error occurs during ‘xx’ th loop run. The flag, as a dedicated monitoring, is updated although a
user directly enters it. For more information about warning code, refer to 5.5.
23) _PIDxx_CUR_SV (SV of the present cycle)

_PIDxx_CUR_SV
K1250+16*xx %KW1250+16*xx INT Unavailable
(SV of the present cycle)
It indicates SV currently running of ‘xx’ th loop. If SV is changing due to SV ramp or PV follow-up function, it shows the
currently changing PV. The flag, as a dedicated monitoring, is updated although a user directly enters it.

5.5 PID Instructions
It describes PID control commands used in ML50 series. The command type of PID control used in ML50 series built-in PID
control is 4.
(1) PIDRUN
PIDRUN is used to execute PID control by loops.
- Operand S means the loop no. to execute PID control and avaiable only for constant(0~15).
- If start signal contact is on, the PID control of a loop starts.
Item Indication Flag name Contents
16#0001 PV_MIN_MAX_ALM Current value exceeds range of maximum, minimum value
16#0002 PID_SCANTIME_ALM Operation cycle is too short.
Variation of current value of this PID cycle exceeds the current value
16#0003 PID_dPV_WARN
variation limit.
Variation of manipulated value of this PID cycle exceeds the
ALARM 16#0004 PID_dMV_WARN
manipulated value variation limit.
Manipulated value of this PID cycle exceeds maximum manipulated
16#0005 PID_MV_MAX_WARN
value.
Manipulated value of this PID cycle is smaller than minimum
16#0006 PID_MV_MIN_WARN
manipulated value.
Maximum manipulated value is set to be smaller than minimum
16#0100 MV_MIN_MAX_ERR
manipulated value.
Maximum current value is set to be smaller than current manipulated
16#0200 PV_MIN_MAX_ERR
value.
16#0300 PWM_PERIOD_ERR PWM output cycle is set to be smaller than 100(10ms).
In case of forward operation, set value at start of auto-tuning is
16#0400 SV_RANGE_ERR smaller than current value. In case of reverse operation, set value at
start of auto-tuning is larger than current value.
16#0500 PWM_ADDRESS_ERR PWM output is set as contact point other than %QX0.0.0~0.0.31.
16#0600 P_GAIN_SET_ERR Proportional constant is set to be smaller than 0.
ERROR 16#0700 I_TIME_SET_ERR Integral constant is set to be smaller than 0
16#0800 D_TIME_SET_ERR Differential constant is set to be smaller than 0
CONTROL_MODE_ER
16#0900 Control mode is other than P, PI, PD and PID.
R
16#0B00 PID_PERIOD_ERR; PIC operation cycle is set to be smaller than 100(10ms)
In combined operation, directional parameter of forward operation loop is
16#0C00 HBD_WRONG_DIR set as reverse operation or directional parameter of reverse operation
loop is set as forward operation
HBD_SV_NOT_MATC
16#0D00 In combined operation, set values of two loops are different
H
16#0E00 LOOP_EXCEED PID LOOP number is larger 15

(2) PIDCAS
PIDCAS is a command to execute CASCADE control.
- Operand M and S mean master loop and slave loop respecively and available only for constant(0~15).
- If start signal contact is on, cascade control is executed through master loop and slave loop.
Cascade control is called a control method which is intended to increase control stability through quick removal of
disturbance by connecting two PID control loops in series and is structured as follows.
[Figure 5.13 Comparison of single loop control and cascade control]
Looking at the figure, it is found that cascade control contains slave loop control within external control loop. That is, the
control output of external loop PID control is entered as SV of the internal loop control. Therefore, if steam valve suffers
from disturbance in the figure, single loop PID control may not be modified until PV, y(s) appears while cascade control is
structured to remove any disturbance by the internal PID loop control before any disturbance that occurs in its internal
loop affects the PV, y(s), so it can early remove the influence from disturbance.
ML50 internal PID control connects two PID control loops each other, making cascade control possible. At the moment,
MV of external loop is automatically entered as the SV of internal loop, so it is not necessary to enter it through program.

(3) PIDHBD
PIDHBD is a command to execute the mixed forward/reverse E control.
- Operand F and R represent forward operation loop and reverse operation loop and available only for constant(0~15).
- If start signal conatact is on, it starts the mixed forward/reverse operation from the designated forward/reverse loops.
The mixed forward/reverse control is called a control method to control forward operation control output and reverse operation
control operation alternatively to a single control process. The ML50 built-in PID control enables the mixed forward/reverse
control by connecting two PID control loops set as forward/reverse operations. At the moment, it uses PIDHBD command.
For more information about the command, refer to 5.2.5. The mixed forward/reverse run is executed as follows in the ML50
built-in PID control.
(a) Commencement of mixed run

If PIDHBC command starts first, it starts reverse run when PV is higher than SV; it starts forward run if PV is lower than
SV.
(b) Conversion of RUN direction
The conversion of run direction is executed according to the following principles. In case of forward operation run, it keeps
running by converting to reverse operation once PV is over SV + DeadBand value. At the moment, the DeadBand setting
value uses the deadband of a loop set for forward operation. If PV is below SV – DeadBand value during reverse
operation, it also keeps running by converting to forward operation. In the case, the DeadBand setting uses the
deadband of a loop set for reverse loop. It may be illustrated as 5.14.
[Figure 5.14 Conversion of RUN direction in the mixed forward/reverse control]
(c) At the moment, every control parameter uses the parameter of a loop set for forward operation while MV is output to MV
output area of a loop of forward operation. Reversely, every control parameter uses the parameter of a loop set for
reverse operation during reverse operation run while MV is also output to MV output area of reverse operation loop.

5.6 PID Auto-tuning

5.6.1 Basic Theory of PID Auto-tuning
It describes the function of PID auto-tuning.
The performance of PID controller is very different according to P, I, D coefficient. Generally, It is very difficult and takes long time
to predict the system and set P, I, D coefficient because of non-periodical disturbance, interference of other control loop, dynamic
characteristic of control system though the engineer is good at handling the PID controller. So auto-tuning that sets the PID
coefficient automatically is very useful. Generally, there are many methods in setting the PID coefficient. Here, it will describe
Relay Auto-tuning.
(1) PID coefficient setting by Relay auto-tuning

It makes critical oscillation by force and uses the width and period of oscillation to specify the PID coefficient. It applies max.
output and min. output to control system for auto-tuning. Then, oscillation with steady period and steady width occurs
around the Set value like figure 5.15, and it can calculate the boundary gain by using it like expression (5.3.1).
< Figure 5.15 Relay auto-tuning >
4  ( Max.output  Min.output) (5.4.1)

Ku 
  width
At this time, oscillation period is called boundary period. If boundary gain and period is specified, use table 5.9, Ziegler &
Nichols tuning table to specify the PID coefficient. This Relay tuning is relatively simple to configure and easy to know the
boundary gain and period so it is used frequently and ML50 built-in PID auto-tuning uses this method.
Proportional gain
Controller Integral time(Ti) Differential time(Td)
(Kp)
P 0 .5 K u - -
PI 0.45K u Pu / 1.2 -
PID 0 .6 K u Pu / 2 Pu / 8
< Table 5.9 Ziegler & Nichols tuning table >

5.6.2 PID Auto-tuning Function Specifications

The specifications of the ML50 series built-in PID auto-tuning function are summarized as in Table.
Item Specifications
Scope of SV INT (-32,768 ~ 32,767)
Scope of PV INT (-32,768 ~ 32,767)
Scope of MV INT (-32,768 ~ 32,767)
Normal: error flag off
Error indication
Error: error flag off, error code occurs
AT direction setting Forward/Reverse
Control cycle 100 ~ 65,536 (0.1msUnit)
Additional PWM output Supportable
function Hysteresis Supportable
[Table 5.10 Spec. of built-in PID auto-tuning function]
5.6.3 Auto-tuning Parameter Setting

To use the ML50 series auto-tuning function, it is necessary to start it by using a command after setting auto-tuning
parameters by loops in the parameter window. It explains the parameters to use auto-tuning function and how to set them.
(1) Auto-tuning parameter setting

To set the parameters of ML50 series auto-tuning function, follow the steps.
(a) If selecting parameter in project window and the built-in parameter, it shows the built-in parameter setting window as
seen in below figure.
< Figure 5.16 Built-in parameter setting window >

(b) If selecting auto-tuning, it shows the parameter setting window as seen in Figure 5.17.
<Figure 5.17 Built-in auto-tuning function parameter setting window>
(c) Input items

Table shows the items to set in auto-tuning parameter window and the available scopes.
Items Description Scope

RUN direction Set the run direction of auto-tuning. Forward/reverse
Set whether to set PWM output of MV enabled/
PWM output enable Disable/enable
disabled.
SV Set SV. -32,768 ~ 32,767
Operation time Set auto-tuning operation time. 100 ~ 65535
Max. MV Set the max. MV in control. -32,768 ~ 32,767
Min. mV Set the min. MV in control. -32,768 ~ 32,767
PWM junction Designate the junction to which PWM output is
P20 ~ P3F
designation output.
PWM output cycle Set the output cycle of PWM output. 100 ~ 65,535
Hysteresis setting Set the hysteresis of auto-tuning MV. 0 ~ 65,535
< Table 5.11 Auto-tuning function parameter setting items>
(2) Description of auto-tuning parameters and how to set them
(a) RUN direction

RUN direction is to set the direction of auto-tuning run of a loop. The available option is forward or reverse. The former
(forward) means that PV increase when MV increases while the latter (reverse) means PV decreases when MV increases.
For instance, a heater is a kind of forward direction system because PV (temperature) increases when output (heating)
increases. A refrigerator is a kind of reverse direction system in which PV (temperature) decreases when output increases.
(b) PWM output enable

PWM output means an output method to turn a junction on – off with a duty proportional to control output calculated by a
uniform output cycle. If PWM output is enabled, it realizes PWM output in accordance with PWM output cycle set in the
parameter of PWM output junction (P20 ~ P3F) (%QX0.0.0~%QX0.0.31) designated in the parameter. At the moment, the
PWM output cycle follows the PWM output cycle separately set in auto-tuning operation cycle.

(c) SV
It sets the auto-tuning SV of a loop in question. Similar to PID control, physical values (temperature, flow rate, pressure and
etc) of an object to control is not meaningful and instead, it should use the physical amount of an object to control after
converting them into numerals. For instance, in order to control a system using a sensor that the output is 0V when its
heating device temperature is 0℃ while it is 10V when the temperature is 100℃ as much as 50℃, it is necessary to set
SV as 2000(as long as it uses AD input module MLE-AD04A).
(d) Operation time

It sets the cycle to execute operation for auto-tuning. The setting cycle is 0.1ms and available between 10ms ~ 6553.5ms
(setting value: 100 ~ 65,535) while it is set at a unit of integer per 0.1ms.
(e) Max./min. MV
It sets the max./min. value of output for auto-tuning. The available scope is between -32,768 ~ 32,767. If the max. MV is set
lower than min. MV, the auto-tuning function of a loop generates an error and does not work.
(f) Hysteresis setting

Looking at relay tuning in Figure 5.15, it shows it outputs the max. MV as auto-tuning starts but it converts to min. output as
PV is over SV and then, it converts to the max. output as PV is lower than SV. However, if input PV contains noise
components or reply components, auto-tuning ends by a slight vibration of PV around SV, yielding incorrect tuning result.
To prevent it, hysteresis may be set. ML50 auto-tuning converts output at SV + Hysteresis when PV increases or at SV –
Hysteresis when it decreases once hysteresis is set. With it, it may prevent incorrect tuning by a slight vibration around SV.
MV
PV
SV
Hysteresis
SV+Hysteresis
SV- Hysteresis
[Figure 5.16 Example of Hysteresis setting ]

5.6.4 Auto-tuning Flags

The parameters set in the ML50 series auto-tuning function are saved to the flash memory of basic unit. Such
parameters are moved to K area for auto-tuning function as soon as PLC enters to RUN mode from STOP. Auto-
tuning operation using auto-tuning command is achieved by data in K area. At the moment, if PLC is changed to
RUN again after being changed to STOP, it takes the parameters in flash memory to K area, so the data changed
in K area is lost. Therefore, to continuously apply the parameters adjusted in K area, it is necessary to write the
parameters set in K area into flash memory by using WRT command. (In case of IEC type, APM_WRT function
block)
(1) Auto-tuning flag configuration

The K area flags of ML50 series auto-tuning function are summarized in Table 5.12.
Loops K area IEC type Symbol Data type Default Description
%KX29696 Auto-tuning direction(0:forward,
K18560~F _AT_REV Bit Forward
~%KX29711 1:reverse)
%KX29712 PWM output enable(0:disable,
K18570~F _AT_PWM_EN Bit Disable
Common ~%KX29727 1:enable)
%KX29728
K18580~F _AT_ERROR Bit - Auto-tuning error(0:normal,1:error)
~%KX29743
K1859 %KW1859 Reserved WORD - Reserved area
K1860 %KW1860 _AT00_SV INT 0 AT SV – loop 00

AT operation cycle
K1861 %KW1861 _AT00_T_s WORD 100
(T_s)[0.1msec]
K1862 %KW1862 _AT00_MV_max INT 4000 AT MV max. value limit
K1863 %KW1863 _AT00_MV_min INT 0 AT MV min. value limit
K1864 %KW1864 _AT00_PWM WORD 0 AT PWM junction setting
K1865 %KW1865 _AT00_PWM_Prd WORD 0 AT PWM output cycle
K1866 %KW1866 _AT00_HYS_val WORD 0 AT hysteresis setting

Loop0 K1867 %KW1867 _AT00_STATUS WORD 0 AT auto-tuning status indication
K1868 %KW1868 _AT00_ERR_CODE WORD 0 AT error code
K1869 %KD _AT00_K_p REAL 0 AT result proportional coefficient
K1871 - _AT00_T_i REAL 0 AT result integral time
K1873 - _AT00_T_d REAL 0 AT result differential time
K1875 - _AT00_PV INT 0 AT PV
K1876 - _AT00_MV INT 0 AT MV

%KW1877
K1877~1879 Reserved Word 0 Reserved area
~%KW1879
[Table 5.12 K area flags for auto-tuning]

K1856 ~ K1859 areas (In case of IEC type, %KW1856~%KW1859) are the common bit areas for auto-tuning and each bit
represents auto-tuning loop status respectively. K1860~K1879(%KW1860 ~ %KW1879) areas save the setting and status of
loop 0 as the K area for auto-tuning loop 0. In the area, the parameters such as PV, operation cycle and etc set in the built-in
parameter window are saved and the ML50 built-in auto-tuning function executes auto-tuning by the device values and saves
the results into the K areas.

(2) Auto-tuning flag function

Each function of K area flags for ML50 series auto-tuning is summarized as follows.
A) Common bit area

The area is a flag collecting operation setting and information consisting of bits to each 16 loop. Each bit of each word
device represents the information of each loop.
1) _AT_REV (auto-tuning run direction setting)

_AT_REV
(PID RUN direction setting)
It determines the run direction of auto-tuning of ‘n’ th loop. If the bit is off, it is forward operation; if on, it is reverse operation.
2) _AT_PWM_EN (PWM output enable)

_AT_PWM_EN
K1857 %KX29713 + n BIT Available
(PWM output enable)
It sets whether to output the auto-tuning MV of ‘n’ th loop as PWM output. If the bit is off, it is disabled; if on, it is enabled.
3) _AT_ERROR (Auto-tuning error occurrence)

_PID_ERROR
(PID error occurrence)
It indicates the error in case an error that discontinues operation during auto-tuning of ‘n’th loop occurs. If an error occurs,
it is on; if normal, it is off. Once an error occurs, auto-tuning stops and the MV is output as the min. output set in the
parameter. Also, if an error occurs, it indicates the error code in the error code area of a loop. For more information about
error code types and measures, refer to 5.5. The area, as a dedicated monitor area, is updated although a user directly
enters it.
B) Auto-tuning flag area by loops

The auto-tuning flag areas by loops are K1860 ~ K2179(%KW1860 ~ %KW2179) and each 20 words per loop are
allocated to totally 16 loops. Therefore, individual data area of ‘n’ th loop is between K (1860+16*n) ~ K
(1879+16*n)(%KW(1860+16*n) ~ %KW(1879+16*n)).
1) _ATxx_SV (auto-tuning xx Loop SV setting)

_ATxx_SV
K1860+16*xx %KW1860+16*xx INT -32,768 ~ 32,767
(AT xx Loop SV setting)
It sets/indicates the auto-tuning SV of ‘xx’th loop.

The available scope is between -32,768 ~ 32,767.

2) _ATxx_T_s (Auto-tuning xx Loop operation cycle)

_PIDxx_T_s
K1861+16*xx %KW1861+16*xx WORD 100 ~ 65,535
(Auto-tuning xx Loop operation cycle)
It sets/indicates the operation cycle of ‘xx’ th loop auto-tuning. The available scope is 100 ~ 65,535.
3) _ATxx_MV_max, _ATxx_MV_min(max. MV, min. MV)

_PIDxx_MV_max (Max. MV) K1862+16*xx %KW1862+16*xx
INT -32,768 ~ 32,767
_PIDxx_MV_min (Min. MV) K1863+16*xx %KW1863+16*xx
It sets max. MV and min. MV of ‘xx’ th loop respectively. If the max. MV is set lower than min. MV, the auto-
tuning loop generates an error and does not work.
4) _ATxx_PWM (AT output junction setting)

_AT00_PWM
K1864+16*xx %KW1864+16*xx WORD H’20 ~ H’3F
(AT output junction setting)
It sets the junction that PWM output of ‘xx’th loop is output. The PWM output junction is valid only between H’20 ~ H’3F
(hex). If any other value is entered, PWM output does not work.
5) _ATxx_PWM_Prd (PWM output cycle setting)

_ATxx_PWM_Prd
K1865+16*xx %KW1865+16*xx WORD 100 ~ 65,535
(PWM output cycle setting)
It sets the PWM output cycle of ‘xx’ th loop. The available scope is between 100 ~ 65,535 at the unit of 0.1ms.
6) _ATxx_HYS_val (Hysteresis setting)

_ATxx_HYS_val (Hysteresis setting) K1866+16*xx %KW1866+16*xx WORD 0 ~ 65,535
It sets the hysteresis of ‘xx’ th loop. For more information about hysteresis function, refer to 5.3.3 Auto-
Tuning Parameter Setting. If it is set as 0, it does not work.

7) _ATxx_STATUS (Auto-tuning status)

_ATxx_STATUS
(Auto-tuning status)
It indicates the auto-tuning status of ‘xx’ th loop. If auto-tuning is in operation, it is 1(h0001);

if completed, it is 128(h0080). In any other cases, it shows 0(h0000).
8) _ATxx_ERR_CODE (Error code)

_ATxx_ERR_CODE
(Error code)
It indicates error code in case an error occurs during the auto-tuning of ‘xx’th loop. The flag, as a dedicated monitor, is
updated although a user directly enters it. For more information about error code, refer to 5.5.
9) _ATxx_K_p, _ATxx_T_i, _ATxx_T_d (AT result proportional coefficient, integral time, differential time)

_ATxx_K_p
K1869+16*xx %KD934+20*xx
(proportional coefficient)
_ATxx_T_i
K1871+16*xx %KD1004+20*xx Real Unavailable
(integral time)
_ATxx_T_d
K1873+16*xx %K1005+20*xx
(differential time)
The area indicates proportional coefficient, integral time and differential time calculated after the auto-tuning of ‘xx’ th loop
is normally completed. The flag, as a dedicated monitoring, updated although a user directly enters it.
10) _ATxx_PV (PV)

_ATxx_PV (PV) K1875+16*xx %KW1875+16*xx INT -32,768 ~ 32,767
It is the area to receive PV of ‘xx’ th auto-tuning loop. PV is the present status of a system to control and in case of PID
control, the entry from a sensor is saved into U device through input devices such as A/D input module and it moves the
value to _ATxx_PV by using commands such as MOV every scanning, executing auto-tuning.
11) _ATxx_MV (Auto-tuning MV)

_ATxx_MV (auto-tuning MV) K1876+16*xx %KW1876+16*xx INT Unavailable
It is the area to output MV of ‘xx’ th auto-tuning loop. Every auto-tuning cycle, it saves ML50 auto-tuning and it delivers the
value in the area by using commands like MOV in a program and operates a drive every scanning.

5.6.5 Auto-tuning Instructions

The commands used in ML50 series auto-tuning are as follows.
1) PIDAT
PIDAT is a command to execute auto-tuning by loops.
- Operand S means the loop no. to execute auto-tuning and avaiable only for constant(0~15).
- If start signal contact is on, the PID control of a loop starts.

5.7 Example Programs

The paragraph explains example programs regarding the directions of ML50 built-in PID function.
The example programs are explained with water level system as illustrated in 5.17.
Water
level sensor
Tank
수통
Tank
Pump
0~10V
ML50 D/A A/D

RS-232C
SoftMaster 0~10V
[ Figure 5.17 Example of water level control system ]
5.7.1 Example System Structure

The example system in figure is an example of a system to control a pail’s water level to a desired level. The pail’s water level is
sensed by a water level sensor and entered to A/D input module while PID control operation result, MV is output to a pump
through D/A output module, controlling a pump’s rotation velocity, regulating the water amount flowing into a pail and regulating
the water level as desired. Each mechanism is explained as follows.
(1) ML50 basic unit

The ML50 basic unit operates by PID control operating PID control operation. It receives PV from A/D input module (MLF-
AD04A), executes the built-in PID control operation, output the MV to D/A (MLF-DV04A) and executes PID control.
(2) A/D input module (MLF-AD04A)

It functions as receiving PV of an object to control from a water level sensor and delivering it to basic unit. MLF-AD04A is a
4CH analog input module and settings of analog input types and scopes can be changed in the I/O parameter setting
window appeared when selecting I/O parameter in the parameter item of project window. For more information, refer to
Analog I/O Module.
(3) D/A output module (MLF-DV04A)

It functions as delivering control MV from basic unit to a drive (pump). MLF-DV04A is a 4CH analog voltage output module
and ranges 0 ~ 10V. For detail setting, refer to Analog I/O Module.

(4) Water Level Sensor

A water level sensor plays a role to deliver the PV of an object to control to ML50 by measuring the water level of a pail and
outputting it within 0 ~ 10V. Since the types and output scope of water level sensors varies, the output scope of a sensor
should be identical with that of A/D input module’s input scope. The example uses a water level sensor outputting between 0
~ 10V.
(5) Drive (pump)

A drive uses a pump that receives control output of XGF-DV04A and of which rotation velocity is variable. For accurate PID
control, the output scope of MLF-DV04A (0~10V) should be same with that of a pump’s control input. The example uses a pump
that receives its control input between 0 ~ 10V.
5.7.2 Example of PID Auto-tuning
Here, with examples, it explains how to calculate proportional constant, integral time and differential time by using PID auto-
tuning function
(1) PID auto-tuning parameter setting
(a) If double-clicking Parameter – Built-in Parameter – PID – Auto-tuning parameter in the project window, it opens up the
auto-tuning parameter setting window as illustrated in Figure 5.18.
[Figure 5.18 Auto-tuning parameter setting window]
(b) Set each parameter and click OK.

In the example, Loop 0 is set as follows.
• RUN direction: forward

- Since in the system, water level is going up as MV increases and pump’s rotation velocity increases, it should be
set as forward operation.
• PWM output: disabled

- In the example, auto-tuning using PWM is not executed. Therefore, PWM output is set as disabled.
• SV: 1000(2.5V)
- It shows an example in which MLF-AD04A is set as the voltage input of 0~10V.

• Max. MV: 4000

- Max. MV is set as 4000. If MV is 4000, MLF-DV04A outputs 10V.
• Min. MV: 0
- Min. MV is set as 0. If MV is 0, MLF-DV04A outputs 0V.
• PWM junction, PWM output cycle

- It is not necessary to set it because the example does not use PWM output.
• Hysteresis setting: 10
(2) A/D input module parameter setting
(a) If double-clicking Parameter – I/O parameter, it opens up the setting window as illustrated in figure 5.19.
[ Figure 5.19 I/O parameter setting window ]
(b) If selecting A/D module for a slot in A/D input module, it opens up the setting window as illustrated in Figure 5.20.
[ Figure 5.20 A/D input mode setting window ]

(c) Check A/D Module operation parameter and click OK. The example is set as follows.
• RUN CH: CH0 RUN

- The example receives the water level sensor input as CH0.
• Input scope: 0 ~ 10V

- Set MLF-AD04A input scope as 0 ~ 10V so that it should be identical with the output scope of water level sensor.
• Output data type: 0 ~ 4000

- It converts the input 0 ~ 10V to digital value from 0 ~ 4000 and delivers it to basic unit.
- In the case, the resolving power of digital value 1 is 10/4000 = 2.5mV
• Filter process, averaging: disabled

- The example sets the input values in order that filter process and averaging are not available.
- For more information about each function, refer to Analog Manual.
(3) D/A Output Module Parameter setting
(a) Set the parameter of D/A output module(MLF-DV04A) that output MV to a drive.
How to set them is as same as A/D input module. In the example, it is set as follows.
• RUN CH: CH0 RUN

- In the example, MV is output as CH0 of D/A output module.
• Output range : 0 ~ 10V
• Input type: 0 ~ 4000

(4) Example of PID Auto-tuning program

The example of PID auto-tuning program is illustrated as Figure 5.21.
< Figure 5.21 Auto-tuning example program >
(a) Devices used
Device Data type Application

%FX153 BIT It is always on, so it readily operates once PLC is RUN.
%UX0.2.32 BIT It starts operation of CH0 of Slot 2 D/A output module.
%UW0.3.2 INT PV entered to A/D input module.
%UW0.2.3 INT MV entered to D/A output module.
%KW1875 INT Device to which PV is entered for LOOP 0 auto-tuning
%KW1876 INT Device to which auto-tuning MV of LOOP 0 is output.
%KW1867 WORD Device to which auto-tuning status indicates.
%KW1863 INT Min. MV of auto-tuning designated in parameter.

(b) Program explanation

1) Since F0099(always on) is ON if PLC is converted form STOP to RUN, CH0 of A/D and D/A starts operating.
2) At the moment, PV entered to CH0 of A/D is moved to K1875, the input device of PV and saved accordingly.
3) Once M0000 junction is on, the auto-tuning of loop 0 starts.
4) The auto-tuning MV of loop 0 that is output by PIDAT command is output to D/A output module by line 14 MOV
command.
5) If auto-tuning is complete or there is any error during auto-tuning, M0001 junction is set, blocking operation of PIDAT
command and it outputs min. MV set in parameter to D/A output module.
(c) Monitoring and changing PID control variables using K area

In ML50 series built-in auto-tuning, it can monitor and change RUN status of auto-tuning by using K area allocated
as fixed area by loops.
1) Variable registration
If selecting “Register in Variable/Description” by right clicking in the variable monitor window, “Variable/Device
Selection” window appears. Select “Item” as PID, deselect “View All” and enter 0(means loop number) in
“Parameter No”, K area device list to save every setting and status of loop 0 appears as shown Figure 5.22. Then, if
selecting a variable to monitor and clicking “OK”, a selected device is registered to variable monitor window as
illustrated in Figure 5.23. Through the monitor window, a user can monitor auto-tuning run status or change the
settings.
[Figure 5.22 Variable registration window]

[Figure 5.23 Auto-tuning variables registered]

(5) Observing RUN status by using trend monitor function

Since it is possible to monitor the operation status of ML50 series built-in auto-tuning graphically, it is useful to monitor the
operation status of auto-tuning clearly.
(a) If selecting Monitor – Trend monitor menu, it shows the trend monitor widow as illustrated in Figure 5.24.
[ Figure 5.24 Trend Monitor window ]
(b) If right-clicking trend setting, a user can select a variable to monitor as illustrated in Figure 5.25.
[ Figure 5.25 window to register trend monitor variable ]
(c) For more information about trend monitor, refer to “SoftMaster Use’s Manual.”

5.7.3 Stand-alone Operation After PID Auto-tuning

Here, with example, it explains how to execute PID control followed by PID auto-tuning.
(1) PID auto-tuning parameter setting
▪ PID auto-tuning parameters are set as same as examples of 5.4.2 Example of PID Auto-tuning.
(2) Setting parameters of A/D input module and D/A output module
▪ Set the parameters of A/D input module and D/A output module as same as the example in 5.4.2 Example of PID
Auto-tuning.
(3) PID parameter setting
(a) If double-clicking Parameter – Built-in Parameter – PID – PID Parameter, it shows the built-in PID parameter setting
window as seen in Figure 5.26.
[ Figure 5.26 Auto-tuning parameter setting window ]
(b) Set each parameter and click OK.

In the example, Loop 0 is set as follows.
• RUN mode: automatic

- Set as automatic in order that PID control is executed as the built-in PID operation outputs MV.
• RUN direction: forward

- Since in the system, water level is going up as MV increases and pump’s rotation velocity increases, it should
be set as forward operation.
• PWM Output: disabled

- In the example, auto-tuning using PWM is not executed. Therefore, PWM output is set as disabled.
• SV: 1000(2.5V)
- It shows an example in which MLF-AD04A is set as the voltage input of 0~10V

• Operation cycle: 1000

- In the example, it is set that PID control is executed every 100ms.
• Proportional gain, integral time and differential time

- It should be initially set as 1,0,0 because PID auto-tuning results is used with PID constant.
• Max. MV: 4000

- Max. MV is set as 4000. If MV is 4000, MLF-DV04A outputs 10V.
• DeadBand: 0
- It is set as 0 because the example does not use DeadBand function.
• Differential filter setting: 0

- it is also set as 0 because the example does not use differential filter.
• Min. MV: 0
- Min. MV is set as 0. If MV is 0, MLF-DV04A outputs 0V.
• PWM junction, PWM output cycle

- It is not necessary to set them because the example does not use PWM output.
• SV ramp, PV follow-up: 0
- It is not necessary to set SV ramp and PV follow-up because the example does not use them.
• Min. PV, Max. PV: 0

- Set them as 0 and 4000 respectively so that it could be identical with A/D input module’s input scope.

(c) Example of PID control program after PID auto-tuning

The program example for PID auto-tuning is illustrated as Figure 5.27.
[Figure 5.27 Example program of PID control after auto-tuning]
1) Devices used
Device Data type Application

%FX153 BIT It is always on, so it readily operates once PLC is RUN.
%UX0.2.32 BIT It starts operation of CH0 of Slot 2 D/A output module.
%UW0.3.2 INT PV entered to A/D input module.
%UW0.2.3 INT MV entered to D/A output module.
%KW1875 INT Device to which PV is entered for LOOP 0 auto-tuning
%KW1876 INT Device to which auto-tuning MV of LOOP 0 is output.
%KW1867 WORD Device to which auto-tuning status indicates.
%KD934 REAL proportional coefficient calculated after the auto-tuning
%KD935 REAL integral time calculated after the auto-tuning.

%KD936 REAL differential time calculated after the auto-tuning.

%KD609 REAL proportional coefficient of PID designated in parameter.
%KD610 REAL integral time of PID designated in parameter.
%KD611 REAL differential time of PID designated in parameter.
%KW1231 INT MV of PID
2) Program explanation
a) Since F0099 (always on) is ON if PLC is converted form STOP to RUN, CH0 of A/D and D/A starts operating.
b) Once M0000(%MX0) junction is on, the auto-tuning of loop 0 starts. At the moment, PV entered to CH0 of A/D is
moved to K1875, the PV input device of loop 0 and saved accordingly.
c) The auto-tuning MV of Loop 0 output by PIDAT command is output to D/A output module by line 11, MOV command.
d) Once auto-tuning is complete, it moves P, I, D coefficients generated from auto-tuning to the input devices of P, I and
D, K1218,K1220 and K1222,( %KD934, %KD935, %KD936) sets M001 and starts the operation of PID loop 0.

5.8 Error / Warning Codes
It describes error codes and warning codes of the ML50 built-in PID function. The error codes and warning codes that may occur
during use of the ML50 built-in PID function are summarized as table. If any error or warning occurs, remove potential causes of the
error by referring to the tables.
5.8.1 Error Codes

Error
Indications Measures
codes
It occurs when max. MV is set lower than min. MV. Make sure to set max. MV
H’0001 MV_MIN_MAX_ERR
larger than min. MV.
It occurs when max. PV is set lower min. Pv. Make sure to set max. PV larger
H’0002 PV_MIN_MAX_ERR
than min. PV.
It occurs when the period of auto tuning or PID operation loop is set under
H’0003 PWM_PERIOD_ERR
100(10ms). Make sure to set output period more than 100.
It occurs when SV is larger than PV at the start time of auto-tuning if auto-

H’0004 SV_RANGE_ERR tuning is forward or when SV is larger than PV at the start time of auto-tuning if
auto-tuning is reverse.
It occurs when the junction designated as PWM output junction is beyond
H’0005 PWM_ADDRESS_ERR
between P20 ~ P3F.
H’0006 P_GAIN_SET_ERR It occurs when proportional constant is set lower than 0.
H’0007 I_TIME_SET_ERR It occurs when integral time is set lower than 0.
H’0008 D_TIME_SET_ERR It occurs when differential time is set lower than 0.
H’0009 CONTROL_MODE_ERR It occurs when control mode is not P, PI, PD or PID.

It occurs when operation direction is changed during auto-tuning. Never
H’000A TUNE_DIR_CHG_ERR
attempt to change operation direction during auto-tuning.
It occurs when period of operation is smaller than 100 (10ms) at Auto-tuning or
H000B PID_PERIOD_ERR PID operation.
Make sure to set period of operation larger than 100.
In mixed operation, It occurs when the direction parameter of forward
operation set to reverse operation or the direction parameter of reverse
H000C HBD_WRONG_DIR
operation set to forward operation. Make sure set to appropriate direction
each loop.
In mixed operation, it occurs when the Set value of each loop is not
H000D HBD_SV_NOT_MATCH
concurrent. Make sure set to Set value concurrently.
If the PID LOOP number is outside the settable range, the command will not
- -
be executed without an error code. The range that can be set is 0 ~ 15.
[Table 5.13 : PID error codes]

5.8.2 Warning Codes

Error
Indications Measures
codes
H’0001 PV_MIN_MAX_ALM It occurs when the set PV is beyond the min./max. PV.
It occurs when PID operation cycle is too short. It is desirable to set PID
H’0002 PID_SCANTIME_ALM
operation cycle longer than PLC scan time.
H’0003 PID_dPV_WARN It occurs when the PV change of PID cycle exceeds PV change limit.
H’0004 PID_dMV_WARN It occurs when the PV cycle MV change exceeds MV change limit.
H’0005 PID_MV_MAX_WARN It occurs when the calculated MV of PID cycle exceeds the max. MV.
H’0006 PID_MV_MIN_WARN It occurs when the calculated MV of PID cycle is smaller than the min. MV
[Table 5.14 : PID error codes]

Chapter 1 Overview
Part 3. Embedded Positioning
Chapter 1 Overview
Part 3 describes the specification, method to use each positioning function, programming and the wiring with external equipment
of embedded positioning function.
1.1 Characteristics
The characteristics of positioning module are as follows.
(1) The positioning function is embedded in XEM-H2/HP PLC.

(2) Various positioning control function
It has various functions needed for positioning system such as positioning control, speed control etc.
The operation data including positioning address and operation method, operation pattern is available to set up to 400 for
each axis With this operation data, positioning for each axis is available.
(a) Various sing-axis operations are available.

1) Position Control
2) Speed Control
3) Feed Control
4) Multi-axis Synchronous Start
5) Point Operation
(b) Various Multi-axis Operations are available.

1) Circular arc Interpolation
2) Linear Interpolation
3) Helical Interpolation
4) Ellipse Interpolation
(c) Switching Control in operation is available.

1) Position/Speed Control Switching
2) Speed/Position Control Switching.
(d) Cam Control is available.

It is available to create up to 8 kinds of cam data with various cam profile of SM-NM Software.

Chapter 1 Overview
e) Various Homing Control Function.

1) 7 methods are available for Homing.
a) Origin detection after DOG Off
b) Origin detection after deceleration in case of DOG On
c) Origin detection by the HOME and upper/lower limit
d) Origin detection by DOG
e) High speed Origin detection
f) Origin detection by upper/lower limit
g) Origin detection by HOME
2) It is Available to set the origin of machine without homing by setting the floating origin
(f) For the Acceleration/Deceleration method, it is available to select trapezoid or S curve.
(3) High speed start process .

The start time of positioning is less than( control Parameter-control period*2)ms..
In addition, there is no delay time between axes in synchronous start and interpolation start.
(4) Easy maintenance.

Various data such as operation data, operation parameter are saved on FLASH Memory in PLC. Therefore, data will be
saved permanently. Max writing count of the flash memory is 100,000.
(5) Self-diagnosis, monitoring and test are available with SM-NM software package.
(a) Monitoring (Module & External Input/output Signal) Function
(b) Trace Function
(c) Trend Function
(d) Reading and Saving Module Parameter/Operation Data
(e) Creation of Cam Data
(f) Providing details about errors and the solution for it
(g) Print Function of various forms
(h) Editing operation data in Excel program is available
(6) Advanced XEM can create positioning tasks that match positioning controls. The positioning task work in cycle as set in
Control period of the Common parameters. Positioning task time is included in control period of common parameter.
Positioning control period error occurs when sum of positioning operation time and positioning task execution time exceed
Control period, which set in Common parameter.

Chapter 1 Overview
1.2 Purpose of Positioning Control

The purpose of positioning is to transfer the objects (tools etc.) with setting speed from the current position and stop them on
the setting position correctly. And high precision positioning is available by positioning pulse string signal as it is connected to
various control driving devices such as servo driving devices or stepping motor.
In application, it can be used widely with engineering machine, semiconductor assembly machine, grinder, small machine center,
lifter etc.
1.3 Signal Flow of Embedded Positioning

The flow of PLC system using the embedded positioning is as follows.
Positioning Stepping
CPU process process Drive
Motor
Set data
Scan, task read, write and Poly phase Pulse Motor
program Position control generator AMP
operation
Fig. 1.1 Overview of Position Control for Stepping Motor

Chapter 1 Overview
Fig. 1.2 Overview of Position Control for Servo Motor

Chapter 1 Overview
1.4 Function overview of embedded positioning
Describe Representative functions of APM module (Coordinate & Linear Interpolation, Circular Interpolation & Stop) briefly.
1.4.1 Position Control

Execute positioning control for the designated axis from the starting position(current position) to goal position(the position to
move to).
(1) Control by Absolute coordinates

(a) Execute positioning control from starting position to goal position designated in positioning data
(b) Positioning control is executed based on origin designated in homing
(c) Moving direction is decided by starting position and goal position.
■Starting Position < Goal Position : Forward Positioning Operation
■Starting Position > Goal Position : Reverse Positioning Operation
[ Example ]
■Starting Position : 1000
■Goal Position : 8000
Value of Forward movement is 7000 (7000=8000-1000)
0 1000 8000
Movement Value 7000
Starting Position Goal Position
(2) Control by Incremental Coordinates

(a) Execute positioning control from starting position as much as goal movement value.
The difference from absolute coordinates control is that the goal position is movement value, not position value.
(b) Moving direction depends on sign of movement value.
■Positive value (+ or 0) : Positioning operation with forward direction
■Negative value (-) : Positioning operation with reverse direction
[ Example ]

Chapter 1 Overview
■ Starting Position : 5000

■ Goal Position : -7000
In this condition, it moves reversely and stops at -2000.
-2000 0 5000
Reverse positioning control(movement value -7000)
Goal Position Starting Poiton
1.4.2 Interpolation Control

(1) Linear Interpolation Control
Execute linear interpolation control with designated axis at start position (Current position).
Combination of interpolation axis is unlimited and it is available to execute max. 4 axis linear interpolation control
(a) Linear interpolation by absolute coordinates

1) Execute linear interpolation from starting position to goal position designated by positioning data.
2) Positioning control is executed based on origin designated in homing.
3) Movement direction is designated by starting position & goal position of each axis.
■ Starting position < Goal position : Positioning operation with forward direction
■ Starting position > Goal position : Positioning operation with reverse direction
Y axis Forward direction
Y2
Y axis
movement Starting position(X1, Y1) Goal position(X2, Y2)
value
Y1 Operating by linear
X axis interpolation X axis
Reverse Forward
direction direction
X axis movement value
X2
Y axis Reverse direction X1

Chapter 1 Overview
[ Example ]
■ Starting Position (1000, 4000)
■ Goal Position (10000, 1000)
In this condition, operation is as follows.
(b) Linear Interpolation by incremental coordinates

1) Goal value becomes movement value
2) Moving direction depends on movement value is positive or negative.
■ Positive value (+ or 0) : Positioning operation with forward direction
■ Negative value (-) : Positioning operation with reverse direction
Y axis Forward direction
Y2
Y axis
movement Starting position(X1, Y1) Linear interpolation end
value position(X2, Y2)
Y1
Movement by Linear interpolation
X axis X axis
Reverse Forward
direction X axis movement value direction
X2
Y axis Reverse direction X1

Chapter 1 Overview
[ Example ]
■ Starting position (1000, 4000)
■ Goal position (9000, -3000)
In this condition, operation is as follows.
(2) Circular Interpolation Control

Execute interpolation operation along the trace of circle with 2 axes in direction that already designated for each axis.
Circular interpolation has 3 types according to auxiliary point, Middle point method passing auxiliary point, Center point
method using auxiliary point as center of circle and Radius method using auxiliary point as radius of circle.
In addition, it is available to be executed more than 360° circular interpolation according to the value of “circular
interpolation turns’.
There is no limitation for the combination of 2 axes that used in circular interpolation.(Available to use any 2 of axis1~4)
(a) Circular interpolation with middle point designation form.

1) Starts operating at starting position and execute circular interpolation through the designated middle point.
2) There will be a circular arc whose center point is crossing point of perpendicular bisection between starting
position and middle point or middle point and goal position.
Forward
direction Middle point position
Goal position
Center point
of circular arc
Starting point
Reverse Forward
direction direction
Reverse Origin
direction
3) Control unit “degree” is not available to be used for circular interpolation control.
4) Movement direction is automatically designated by goal position and auxiliary point of circular interpolation
(b) Circular interpolation with center point designation form

1) Starts operating from starting position and execute circular interpolation along trace of circle that has distance

Chapter 1 Overview
from starting point to designated center point as radius.
Forward Direction
Goal
Operating by circular interpolation
Position
Starting
position Center point
of circular arc
Radius
Reverse Forward
Direction Direction
Origin
Reverse Direction
2) If the goal position is same as starting position, it is available to have an operation like a circle that has distance
from starting point to auxiliary point as its radius
Forward Direction
Operating by circular interpolation
Center point
of the circle
Starting position
& Goal position
Reverse Forward
Direction Direction
Origin
Reverse Direction
4) Direction is determined in setting of “Cir int. mode” (Center point CW, Center point CCW).
(c) Circular interpolation with radius designation form

1) Starts operating from starting position and execute circular interpolation along trace of circular arc that has
value designated in auxiliary point of main axis as it radius. Depending on size setting of circular
arc(<180°,>=180°), center point of circular arc will be different.

Chapter 1 Overview
Forward Direction Operating by circular interpolation when

Circular angle >= 180°
Circular angle >= 180°
Center
point
Operating by circular
interpolation when
Starting Circular angle Circular angle >= 180°
< 180°
Reverse Position Forward
Direction Direction
Origin
Reverse Direction Center
point
2) In radius designation form, goal position can’t be set the same as starting position.
4) The direction and arc size are determined in “Cir. int. mode”.

Chapter 1 Overview
(3) Helical Interpolation
(1) Moves along the designated trace of circular arc depending on circular arc interpolation setting and executes linear
interpolation synchronously.
(2) It is available to execute helical interpolation of more than 360°depending on ‘Circular interpolation turns’ setting.
(3) The combination of axis that used for helical interpolation control is unlimited, 3 axes among axis1 ~ 4 are used.
+Z
End Helical
position Interpolation
Straight
interpolation
Part
+Y
Center
Position
+X
Starting
Position Circular interpolation part

Chapter 1 Overview
1.4.3 Speed Control

(1) It is executed by positioning operation start command (Direct start, Indirect start, Synchronous start) and keeps operating
with designated speed until Dec. stop command.
(2) Speed control has forward operation and reverse operation.
(a) Forward operation : Position value >= 0
(b) Reverse operation : Position value < 0
(3) In case of speed control, M code will be on only when M code mode is “With”.
(4) Operating Timing
Speed
Time
Operation
Command
In
Operation It will not be ON
even though stop
Signal of positioning
complete
Stop command

Chapter 1 Overview
1.4.4 FEED Control
(1) After executed by positioning start, reset the current position as 0 and start positioning as much as movement value
already set.
(2) Movement direction is decided by movement value.
(3) Feed control has forward direction operation and reverse direction operation.
(a) Forward direction : Position value >= 0
(b) Reverse direction : Position value <0
(4) Operation timing is as follows.
Speed
Time
Start
In
operation
Position
Time
Current
position value
is 0 when start

2.1 Performance Specifications

The following table shows the performance specifications of Embedded Positioning.
Model
MLU-H2/HP type
Items
No. of control axis 2 6
▪2 axis linear interpolation ▪2/3/4 axis linear interpolation
Interpolation function ▪2 axis circular interpolation ▪2 axis circular interpolation
▪3 axis helical interpolation
Control method Position control, Speed control, Speed/Position control, Position/Speed control, Feed control
Control unit Pulse, ㎜, inch, degree
Each axis can have up to 400 operation data .(Operation step number : 1 ∼ 400)
Positioning data
Available to set with software package(XG-PM) or program
Connection USB port of CPU
Common, Basic, Extended, Manual operation, Homing, Input/output signal parameter, Operation data, Cam
SM-PM Setting data
data, Command information
Monitor Operation information, Trace, Input terminal information, Error information
Back-up Save the parameter, operation data in Flash ROM (No need of Battery, Max. 100,000 cycle )
Positioning method Absolute method/Incremental method
Speed/Position,
Absolute Incremental Position/Speed Switching
control
Position address range ㎜ -214748364. 8∼ 214748364. 7(㎛) -214748364. 8∼ 214748364. 7(㎛) -214748364. 8∼ 214748364. 7(㎛)
Inch -21474. 83648 ∼ 21474. 83647 -21474. 83648 ∼ 21474. 83647 -21474. 83648 ∼ 21474. 83647
degree -21474. 83648 ∼ 21474. 83647 -21474. 83648 ∼ 21474. 83647 -21474. 83648 ∼ 21474. 83647
POSITIONING
pul se -2147483648 ∼ 2147483647 -2147483648 ∼ 2147483647 -2147483648 ∼ 2147483647

㎜ 0.01 ∼ 21474836.47 (㎜/ min)
Inch 0.001 ∼ 2147483.647 (I nch/ min)
degree 0.001 ∼ 2147483.647 (degree/ min)
Speed range
pul se 1 ~ 200, 000(pul se/ sec): Li ne dri ver
rpm 0. 1 ∼ 100000. 0(RPM)
- mm,I nch, degree cannot exceed 200, 000 pul se/ sec
Acc./Dec. process Trapezoid type, S-Curve
0 ∼ 2,147,483,647ms
Acc./Dec. time
selection is available from 4 types of acceleration/deceleration pattern
Manual Operation Jog Operation, MPG Operation, Inching Operation
DOG + HOME (Off), DOG + HOME(On), upper limit + HOME, DOG, High speed,
Homing method
Upper/Lower limit, HOME
Speed change function Speed change (Percent/Absolute value)

Model
MLU-H2/HP type
Items
Control Period 1~10ms
Max. speed 200 kpps, (Low-Active)
Connector 40 Pin connector
Size of use cable AWG #24

2.2 External Interface I/O Specifications

Here describes the I/O interface for external equipment.
2.2.1 Input Specifications

External input signal of Built-in Positioning can be set by input area where user can set the device in Extended parameter.
(In case of HOME signal P area range can be set %IX0.0.0~%IX0.0.15)
2.2.2 Output Specifications

Deviation signal can be set by P area where user can set the device in Extended parameter.

2.2.3 Positioning output

(I case of 2 aixs XBM refer to only 1,2 axis)
1axis %QX0.0.0 %QX0.0.6
2axis %QX0.0.1 %QX0.0.7
3axis %QX0.0.2 %QX0.0.8
Contac Ref.
t no. 4axis %QX0.0.3 %QX0.0.9
5axis %QX0.0.4 %QX0.0.10
6axis %QX0.0.5 %QX0.0.11
Signal name Pulse string output Direction output
Rated load
DC5~24V (DC4.75~26.4V)
voltage
Max. load
0.1A/1 point or below
current
Insulation
Photo-coupler insulation
method
Inrush current 1A/10㎳ or below
Voltage drop
DC 0.3V or below
when On
Leakage current
0.1㎃ or below
when Off
Response time 0.5us or below (10mA or above)
No. Contact No. Contact
B20 %IX0.0.0 A20 %QX0.0.0
B19 %IX0.0.1 A19 %QX0.0.1
B18 %IX0.0.2 A18 %QX0.0.2 B20 A20
B19 A19
B17 %IX0.0.3 A17 %QX0.0.3 B18 A18
B16 %IX0.0.4 A16 %QX0.0.4 B17 A17
B16 A16
B15 %IX0.0.5 A15 %QX0.0.5
B15 A15
B14 %IX0.0.6 A14 %QX0.0.6 B14 A14
Circuit B13 %IX0.0.7 A13 %QX0.0.7
B13 A13
B12 A12
configuration B12 %IX0.0.8 A12 %QX0.0.8 B11 A11
and connector B11 %IX0.0.9 A11 %QX0.0.9 B10 A10
B09 A09
array B10 %IX0.0.10 A10 %QX0.0.10 B08 A08
(standard type) B9 %IX0.0.11 A9 %QX0.0.11 B07 A07
B06 A06
B8 %IX0.0.12 A8 %QX0.0.12 B05 A05
B04 A04
B7 %IX0.0.13 A7 %QX0.0.13 B03 A03
B6 %IX0.0.14 A6 %QX0.0.14 B02 A02
B01 A01
B5 %IX0.0.15 A5 %QX0.0.15
B4 NC A4 P
B3 NC A3 P

2.2.4 External Equipment and Interface Specifications

Output pulse of XGB built-in positioning consists of Pulse + Direction like figure below.
At this time, output level of Low Active and High Active can be specified by positioning parameter and K area flag
dedicated for positioning.
Supported at
S, H, HP type

Chapter 3 Operation Order and Installation
3.1 Operation Order

This chapter describes the Operation order in case of positioning operation by embedded positioning.

3.2 Installation
3.2.1 Installation Environment
This machine has a good reliability regardless of installation environment but cares should be taken in the following items to
guarantee the reliability and safety of the system.
(1) Environment Condition

- Install the control panel available for water-proof, anti-vibration.
- The place free from continuous impact or vibration.
- The place not exposed to direct rays.
- The place with no dew phenomena by rapid temperature change.
- The place where surrounding temperature maintains 0-55℃.
(2) Installation Construction

- In case of processing the screw hole or wiring, cares should be taken not to put the wiring remnants to PLC inside.
- Install on the good place to operate.
- Do not install the high voltage machine on the same Panel.
- The distance from duct or surrounding module shall be more than 50mm.
- Ground to the place where surrounding noise environment is good enough.
3.2.2 Notices in Handling

Here describes the notices in handling the positioning module from opening to installation.
(1) Do not fall down or apply the strong impact.

(2) Do not remove PCB from the case. It may cause the failure.
(3) In wiring, cares should be taken not to put the wiring remnants or foreign materials to the upper part of module. If
something entered, it should be removed.
(4) The removal of module in the status of power ON is prohibited.
(5) When using the system of positioning control, please use it after you've set up the origin.
When Power On or Off, change of pulse output could occurred by Power On or Off.

3.3 Notices in Wiring

3.3.1 Notices in Wiring
1) The length of connecting cable between positioning module and drive machine shall be as short as possible
(Max. 10m).
2) For alternating current and external I/O signal of positioning module, it is required to use the separate cables to avoid
the surge or induction noise generated from the alternating current.
3) The wires should be selected considering surrounding temperature, allowable current and it is recommended to be
more than max. size AWG22 (0.3㎟).
4) In wiring, if it is too close to the high temperature machine or material or it is directly contacted to the oil for a long time,
the short-circuit will occur that may cause the damage or malfunction.
5) Make sure to check the polarity before applying the external contact signal to the terminal board.
6) In case of wiring the high voltage cable and power cables together, the induction noise occurs that may cause the
malfunction or failure.
7) In case of wiring by the pipe, the grounding of pipe is required.
8) In case that there may be the noise source in wiring between positioning module and drive machine, it is required to
use and connect Twist pair and shielded cable for the wiring of output pulse that comes from the positioning and enters
into the motor drive.

3.3.2 Connection Example of Servo

(1) Servo device
(a) XDL-S series
1) The home position signal can be set to %IX0.0.0~%IX0.0.15 throung the input/ouput signal parameter setting
2) Other input signals, except the origin, can set the entire area of I device.
3) For COM for each input, connect the COM contact corresponding to the set I device.
4) The deviation clear signal can set the area of the Q device. set the
5) For COM for deviation clear, connect the COM contact corresponding to the set Q device.
6) EGEAR1, EGEAR2, P_CLR are not allocated. For more information refer to Servo manual.
7) Transister Off time tend to be long when load current is small. In case of reducing off time, add dummy resister as above
wiring.

(2) Connection with stepping motor driver

(a) DC5V power
(b) DC24V power
Stepping
XEM-DN32H2/HP DC 24V DC 5V
Motor Driver
DC24 +24V
%QX0.0.0 Pulse CW-
CW+ 주5)
%QX0.0.6 Direction CCW-
CCW+
COM OUT_COM
주3) IN_COM
주1) HOME
주4)
주2) DOG Timing
주2) Limit L
주2) Limit H
COM

1) The home position signal can be set to %IX0.0.0~%IX0.0.15 throung the input/ouput signal parameter setting
2) Other input signals, except the origin, can set the entire area of I device.
3) For COM for each input, connect the COM contact corresponding to the set I device.
4) For the VEXTA RKD series, TIMING output is ‘On’ whenever the motor rotates 7.2 degrees. For accurate homing, T output
and home sensor must be configurated as AND circuits. Do not use TIMING output signal according to the system
characteristics, use the origin sensor for homing signal or homing by the dog signal. (The home input rating of ML50 is DC24V)
5) Only pulse + direction mode can be output, be sure to change the input mode of the stepping motor driver to 1-phase input
mode.
6) In case of using DC24V power, use the proper resistor in series with the driver.

Chapter 4 Positioning Control

본 파라미
4.1 Positioning task

Here describes Positioning task, which synchronize with positioning control period
4.1.1 Positioning control task

The MLU-DN32HP has a position control task that synchronizes with the positioning control period.
4.1.2 Operation of Positioning control task

Position control tasks provide built-in I / O refresh to increase the responsiveness of signal, which changed or enabled in
Position control task. Positioning control tasks are performed prior to the start of the positioning operation and have a higher
priority than the scan. However, the position control task waits for the execution while communicating with the expansion
module such as refreshing extension module refresh. If the sum of the position control task execution time and the positioning
operation time is greater than the control period set in the common parameter, an error occurs and the position control task is
not executed.
If exceeded control period error, increase the control period of common parameter up to 10ms or adjust the position control
task program. The following shows the operation flow of the scan program and existing tasks(fixed cycle, internal / external
contact, high-speed counter) and positioning task
Nth Positioning control period N+1th Positioning control period
Pulse output Result of Nth period
1 cycle finished
Positioning
control task
Input Output Position Waiting Input Output Position
and POS Task POS Task
refresh refresh calculation execution refresh refresh calculation
position
calculation
Waiting while Expansion module
Communicating
Previous task Wait for Expansion module Wait for

Program running
program execution commnunication execution
Wait for
Scan program Program running
execution
The position control task and the position control operation match the cycle. The processing priority is higher than the scan
program and the existing task program and operates at the same priority level as the position control operation. The position
control task waits while communicating with the expansion unit in the scan program or task program.
the position control task execution time and position control operation time are larger than the positioning control period, the
position control period error occurs and the positioning task does not operate. However, the position control operation operates
even in the error state.
Notes
▶ systems using expansion units, set the position control cycle to at least 3 ms. Expansion unit communication
time takes several hundreds of us to 2ms. Therefore, if the control period is set to 1 ms and an expansion unit is
used, control cycle errors may occur frequently.

4.1.3 Built-in position control command operation

The built-in position control commands mainly include start command and non-start command. Start command is a
command to perform position control operation over several scans such as direct start or indirect start. Non-start
instruction is data processing related instruction to complete the operation within one scan such as reading current status
and presetting current. The non-start instruction entered from the scan program or task program is applied to the
positioning. operation unit immediately after the instruction is executed. On the other hand, the start command is
processed by the position control operator. Since the position control operation is synchronous, the start command input
from the position control task is processed by the position control operation unit. It is processed at the same time.
Therefore, it is convenient to use the position control task to synchronize the start of multiple axes.
For example, if you want to operate the 1-axis and 2-axis at the same time by direct starting, use the
command in the position control task. Direct start of 1-axis and 2-axis starts simultaneously.
(1) Instruction processing in scan program and existing task program

The scan program has a lower priority than the position control operation. Therefore, when the position control processing
period is reached during the operation of the scan program, the scan program processing enters the execution standby
state and processes the position control operation.
Nth Positioning control period N+1th Positioning control period N+2th Positioning control period
Output of N+1th
Pulse output Output of Nth calculation
calculation
( 1 axis Direct start result)
1 th cycle ( 2 axis Direct start result)
finished
Positioning Positioning Positioning Positioning

Input Output Input Output Input Output
control task and position calculation POS Task Control POS Task Control POS Task Control
refresh Refresh refresh Refresh refresh Refresh
processing processing processing
M th scan
M th scan program Wait for M th scan program Wait for Starting M+1th scan
Scan program program
running execution running execution program running
running
Starting M+1th
1 axis Direct 2 axis Direct scan program
1axis Direct start 1axis Direct start
input operation input operation
In the scan program as above, when start command is input to different operation axis in the same scan, the start time of
axis operation may be different
In the scan program as above, when input of start command for each different axis comes in the same scan, actual
operating time of each axis should be different.

(2) Instruction processing in position control task program

Since the POS task operates in a structure in which one scan is completed within the positioning control cycle, the start
commands for the different axes executed in the same scan are simultaneously output. This is convenient when
precise synchronous control between axes is required.
Nth Positioning control period N+1th Positioning control period

Pulse output Output of Nth calculation
( 1,2 axis Direct start result)
1 th cycle
finished
Positioning Positioning Positioning
Input Output Input Output
control task and position POS Task Control POS Task Control
refresh Refresh refresh Refresh
calculation processing processing
M th scan M th scan M th scan

Wait for Wait for
Scan program program program program
execution execution
running running running
2 axis Direct 2axis Direct start

1 axis Direct input operation
input 1axis Direct start
operation

Chapter 5 Positioning Parameter & Operation Data
This chapter describes parameter and operation data to be set by software package with embedded positioning.
Item of Parameter and operation data should be set for each axis(But common parameter shall be applied to all axis)
5.1 Parameter & Operation data

This picture describe process of parameter and operation data saved in the PLC.

4.2 기본 파라미
5.2 Basic Parameter

Here describes about basic parameter of embedded positioning.
5.2.1 Basic parameter
Item Setting range
㎜ :1 ∼ 2,147,483,647 [X10-2㎜/min]
Inch : 1 ∼ 2,147,483,647 [X10-3Inch/ min]
Speed limit 1)
degree : 1 ∼ 2,147,483,647 [X10-3 degree/ min]
pulse : 1 ∼ 200,000 [pulse/Sec]
Acceleration time 1
Acceleration time 2
0 ~ 2,147,483,647 [ms]
Acceleration time 3
Acceleration time 4
Deceleration time 1
Deceleration time 2
0 ~ 2,147,483,647 [ms]
Deceleration time 3
Deceleration time 4
Deceleration time for EMG stop 0 ~ 2,147,483,647 [ms]
Pulse per revolution 1 ~ 200,000,000
㎜ : 1 ∼ 200,000,000 [X10-4㎜]
(1 ∼ 200,000,000 [X10-1㎛])
Travel per revolution
Inch : 1 ∼ 200,000,000 [X10-5Inch]
degree : 1 ∼ 200,000,000 [X10-5 degree]
unit (bit 2 ~ 3) 0:Pulse, 1:mm, 2:Inch, 3:Degree
Control word Unit multiplier(bit 4 ~ 5) 0: x 1, 1: x 10, 2: x 100, 3: x 1000
Speed unit (bit 6) 0: unit/time, 1: rpm
Pulse output mode 0:CW/CCW, 1:PLS/DIR, 2:PHASE
㎜ :1 ∼ 2,147,483,647 [X10-2㎜/min]
Inch : 1 ∼ 2,147,483,647 [X10-3Inch/ min]
Bias speed 2)
degree : 1 ∼ 2,147,483,647 [X10-3 degree/ min]
pulse : 1 ∼ 200,000 [pulse/Sec]
1) The mm, inch, degree unit is not available when a value converted to the pulse/sec unit is greater than 200,000.
2) The bias speed can not greater than the speed limit.
Notes
For Deceleration time, when it stops by DEC. stop, DEC. time set in command is applied. At this time, if DEC. time is set
as 0 in command, DEC. time set in basic parameter is applied. In case it stops by EMG stop because of internal factor,
not external factor, EMG stop deceleration time in basic parameter is applied.

5.2.2 Basic parameter setting

(1) Unit
(a) You can set the command unit for positioning control according to control object. The command unit (mm, inch, pulse,
degree) can be set for each axis separately.
(b) In case of changing the unit setting, as the value of other parameter and operation data does not change, the value of
parameter or operation data should be set within the setting range of the unit to be changed.
Ex) mm, inch, pulse : X-Y Table, Conveyor
degree : a body of rotation (360degree/revolution)
(2) Pulse per Revolution

(a) Only in case of using mm, inch, degree as a positioning command unit, you should set pulse per revolution
(b) In case of using SERVO, you should set the value of “the number of out put pulse per revolution”.
If this value does not correspond with parameter value of servo drive, command and motor action may be different.
Travel per pulse = Transfer per rotation (Al) / Pulse per rotation (Ap)
Ex1) Speed: 60mm/min, Al:2000um, Ap: 200pls/revolution
60mm/min = 1mm/sec = 1000um/sec
1000um = 0.5 Revolution = 100pls
 Pulse output speed is 100pls/sec when driving 60mm/min speed.
(3) Travel per rotation and unit multiplier

(a) Only in case of using mm, inch, degree as a positioning command unit, you should set travel per revolution and multiplier
(b) Actual Machine’s travel distance per revolution of motor is determined by the structure of machine.
If the lead of ball screw (mm/rev) is PB and the rate of deceleration is 1/n,
Transfer amount per revolution (AL) = PB ×1/n.
(c) Settable Travel per revolution (AI) is as below
Setting unit mm Inch degree

Travel per revolution 0.1 ~ 20000000.0 um 0.00001 ~ 2000.00000 inch 0.00001 ~ 2000.00000 degree
In case Transfer amount per revolution (AL) exceeds the above range, The travel per rotation (AI) should be set as follows:
• Transfer amount (AL) = PB ×1/n = Travel per rotation (AI) × Unit multiplier (Am)
[ Note]
In case unit is mm, unit multiplier (Am) can be 1,10,100,1000.
If the value of “PB ×1/n” exceeds 20,000,000.0㎛, it is required to adjust the unit multiplier so that the travel per rotation (Al) does not
exceed 20,000,000.0㎛.
Ex1) In case that (AL) = PB ×1/n = 2500000.0㎛(= 2500㎜)

 Transfer amount per revolution (AL) = (Al) × (Am) = 25000000 ×1
Ex2) In case that (AL) = PB ×1/n = 25000000.0㎛(= 25000㎜)

 Transfer amount per revolution (AL) = (Al) × (Am) = 25000000 ×10 = = 2500000 ×100

(4) Speed Limit, Acceleration Time, Deceleration Time

(a) Speed Limit
The Speed limit means available maximum speed of positioning operation
All of the operating speed in positioning operation should be set to be lower than speed limit.
(b) Acceleration Time
Acceleration Time is the time required to reach the limit speed which is set by parameter from zero speed(stop state).
(It doesn’t mean the time require to reach the Target speed)
(c) Deceleration Time
Deceleration Time is the time required to reach zero speed(stop state) from the limit speed which is set by parameter.
(It doesn’t mean the time require to reach zero speed from the operating speed.)
(5) Pulse Output Enable/Disenable

Built-in Position use output. If you disable pulse output for the axes that you do not use, you can use it as a normal output
contact.
(6) Bias Speed
Because the stepping motor has unstable torque near zero speed, 0~bias speed is skipped in operation to smooth the
rotation of motor and reduce the positioning time..
(a) The setting range is 0 ∼ 200,000[pps] in case of pulse unit.
If the Unit parameter is not "Pulse", The bias speed should be not less than 1 when converted to "pulse unit" by
Travel per revolution and pulse per revolution. if this value is smaller than 1, The PLC occurs error code "105" and
adjust bias speed to satisfy above condition automatically.
[ Note ]
In case, Unit = mm, Pulse per revolution = 100 pls, Travel per revolution = 10000.0um, Unit multiplier
Available minimum bias speed can be calculated as below.
EX1) Travel per revolution (Al) = 10000.0um, Pulse per revolution(Ap)=1000pls
Trael per pulse = Travel per revolution (Al) / Pulse per revolution (Ap)
= 10000.0um/100pls
= 10.0um/pls = 0.6mm/min.

Note
1. If Bias speed is set as high, total operation time shall be reduced but if the setting value is too high,
it may cause the occurrence of impact sound in the start/end time and forces the excessive effect to the
machine. Cares shall be taken in using..
2. The bias speed should be set within the range as follows :
1) Bias speed ≤ Positioning speed data
2) Bias speed ≤ Homing-low speed ≤ Homing-high speed
3) Bias speed ≤ JOG low speed ≤ JOG high speed
3. It causes error in connection with bias speed in the following example..
1) Bias speed > Positioning speed data : error code 153
2) Bias speed > Homing-high speed : error code 133
3) Bias speed > Homing-low speed : error code 134
4) Bias speed > JOG high speed : error code 121
5) Bias speed > JOG high speed : error code 122
6) Bias speed > inching speed : error code 123
7) Converted Bias speed > 1pulse/s: error code 105

5.3 Extended Parameter

It describes about extended parameter of positioning module.
5.3.1 Contents of extended parameter

Extended parameter Items Setting Range
㎜ :-2,147,483,648 ~ 2,147,483,647[X10-4㎜]
Software upper limit (-2,147,483,648 ~ 2,147,483,647[X10-1㎛])
Inch:-2,147,483,648 ~ 2,147,483,647[X10-5Inch]
degree:-2,147,483,648 ~ 2,147,483,647[X10-5degree]
Software lower limit
pulse:-2,147,483,648 ~ 2,147,483,647[pulse]
mm: 1 ~ 2,147,483,647[X10-4㎜]
(1 ~ 2,147,483,647[X10-1㎛])
Infinite running repeat position Inch: 1 ~ 2,147,483,647[X10-5Inch]
degree: 1 ~ 2,147,483,647[X10-5degree]
pulse: 1 ~ 2,147,483,647[pulse]
mm: 0 ~ 65,535[X10-4㎜]
(0 ~ 65,535[X10-1㎛])
Backlash compensation amount inch: 0 ~ 65,535[X10-5Inch]
degree: 0 ~ 65,535[X10-5degree]
pulse: 0 ~ 65,535[pulse]
Position completion time 0 ~ 65,535[ms]
S-Curve ratio(%) 1 ~ 100
mm: 0 ~ 2,147,483,647[X10-4㎜]
(0 ~ 2,147,483,647[X10-1㎛])
Arc insertion position in 2-axis linear interpolation
Inch: 0 ~ 2,147,483,647[X10-5Inch]
continuous operation
degree: 0 ~ 2,147,483,647[X10-5degree]
pulse: 0 ~ 2,147,483,647[pulse]
Servo reset output ON duration 1~5000[ms]
Pulse output direction (bit 0) 0: CW, 1: CCW
Acceleration/Deceleration pattern (bit 1) 0:Trapezoid operation, 1:S-Curve operation
Control M Code mode(bit 2 ~ 3) 0: NONE, 1: WITH, 2: AFTER
word Interpolation speed selection (bit 4) 0: main axis speed, 1: synthetic speed
Software limit detection
0:Don’t detect, 1: Detect
during speed control (bit 5)
Extended parameter Items Setting Range
Speed/Position switching coordinate (bit 9) 0: Incremental, 1: Absolute

Reserved (bit 10 ~ 11) -
Infinite running repeat (bit 12) 0: Disable, 1: Enable
Control Interpolation continuous operation Type (bit 13) 0 : Pass target position, 1 : Pass near position
word Arc insertion in 2-axis linear interpolation
0 : Don’t insert , 1 : Insert arc continuous operation
continuous operation (bit 14)
Pos.-specified speed override coordinate
0: absolute, 1: incremental
(bit 15)

5.3.2 Extended parameter setting

(1) Software upper/Lower Limit
(a) The function is designed so that the machine does not execute the positioning operation out of the range by setting
the range of machine available to move through software upper limit and software lower limit. That is, this function is
used to prevent any breakaway by incorrect operation position setting and incorrect operation by user program fault.
(b) External input upper/lower limit can be also set besides the software upper/lower limit.
(c) The range check of software upper/lower limit is done at the start of operation and during operating.
(d) If the software upper/lower limit is detected, error (Software upper limit error: 501, Software lower limit error: 502)
occurs and the pulse output of positioning module shall be disabled.
Therefore, when you want to operate again, it is required to reset error and release the ‘output inhibition’ before using.
(e) Setting range
Unit Software upper/lower limit range
pulse -2,147,483,648∼2,147,483,647[pulse]
mm -2,147,483,648∼2,147,483,647[X10-4㎜]
Inch -2,147,483,648∼2,147,483,647[X10-5Inch]
degree -2,147,483,648∼2,147,483,647[X10-5degree]
* Software upper limit value always should be higher than software lower limit, at least same
(f) If the software upper/lower limit was set by default value (upper limit: 2,147,483,647, lower limit: -2,147,483,648) or
same value, then it wouldn’t detect upper/lower limit.

(2) Infinite running repeat position

(a) When using “Infinite running repeat” mode, it sets the repeated position value.
(b) This is applied when “Infinite running repeat” in the extended parameter is “1: Enable”. When this parameter setting
value is “0: Disable”, command position and current position is expressed within position expression range according
to value set in “Unit” of basic parameter.
(c) When “Infinite running repeat” parameter is “1: enable”, command position and current position is expressed as 0 ~
“infinite running repeat position-1”.
Infinite running
repeat position
(d) Setting range
Unit Infinite running repeat position range

pulse 1∼2,147,483,647[pulse]
mm 1∼2,147,483,647[X10-4㎜]
Inch 1∼2,147,483,647[X10-5Inch]
degree 1∼2,147,483,647[X10-5degree]
(3) Infinite running repeat

(a) It sets whether to enable or disable “Infinite running repeat”
(b) When you set “Infinite running repeat” as “1: enable”, command position and current position refreshes within the
range set in “Infinite running repeat position” periodically.
(c) When you don’t use “Infinite running repeat” function, set as “0: disable”.
(4) Backlash Compensation Amount

(a) In case that a gear, screw etc is combined to the motor axis, The tolerance that the machine does not work by the
wear, when the rotation direction changes, is called as ‘Backlash”. Therefore, when you change the rotation
direction, it is required to add the backlash compensation amount to the positioning amount for output.
(b) This is used for positioning operation, inching operation and jog operation
(c) Setting range
Unit Backlash setting range

pulse 0 ∼ 65,535[pulse]
㎜ 0 ∼ 65,535[X10-4㎜]
Inch 0 ∼ 65,535[X10-5Inch]
degree 0 ∼ 65,535[X10-5degree]

(d) As presented in the following figure, if the position moved 1m to the right and again 1m to the left, it is not possible to
reach the original position by backlash. At this time, it is required to add backlash compensation amount.
Gear
1m movement right side (Forward)
1m movement left side (Reverse)
Bachlash
Backlash compansation
Transfer amount including Backlash compensation amount
Bachlash
(e) It compensates by adding backlash compensation pulse to current output pulse within speed limit.
In case backlash compensation amount is bigger than Max. output Pulse (Speed limit ⅹ Control cycle) for
one control cycle, distribute compensation amount to several control cycles
A,B,C,D : Relative position
P0 ,P1,P2,P3 : transfer amount of load
Speed Numbers in ( ), { } mean rotation amount of

motor P1 :(1500)
1500
P2 : 1500 P3 : 0
A: 1000 (1500 - compensation amount) {1500 – (compensation amount+1500)}
B: 500
C:0 D: 1500
P0 : 1000 Time
(1000)

Notes
In case backlash compensation is bigger than Max. Pulse (Speed limit ⅹControl cycle) for one control cycle, progress
is as shown below. For example, in case that Speed limit is 100000 and backlash is 250, backlash compensation is
bigger than Max. output Pulse (100000pps ⅹ 0.001s = 100) for one control cycle, and performed for several control
cycles. In this case, the number of output pulse which comes from positioning module per one control cycle is different
according to Acc. time. Compensation pulse is added to above pulse for total pulse output to be smaller than Max.
output pulse for one control cycle. So the number of control cycle compensation acts is different.
One control cycle
(5) Positioning Completion Time

(a) Positioning completion signal shall be OFF after sustaining “ON” for Positioning Completion Time after positioning is
completed and positioning completion signal becomes “ON” in single operation, repeat operation, keep operation,
continuous operation, linear interpolation operation, circular interpolation operation, speed/position switching control
operation, inching operation
At this time, if all start command is executed while positioning completion signal is ON, completion signal shall be
OFF immediately. In case of keep operation and continuous mode operation, positioning completion signal will be
on after all steps end.
(b) The setting range is 0 ∼ 65,535 (unit: 1㎳).
(c) The action of single operation mode is as follows.
Speed
Dwell
Dwell Time
Time
Time
Start
Busy
Position Completion
set position completion time
set position completion time ≠ position completion

= position completion output time output time

(d) The action of Keep operation mode is as follows :
Speed
Dwell Time
Dwell Time
Time
Start
Busy
Position Completion
Position Completion time
( e) The action of Continuous operation mode is as follows.
Speed
Dwell Time
Time
Start
Busy
Position Completion
Position Completion time

(6) Pulse output direction

(a) This is used to set machine’s actual movement direction according to pulse output direction (rotation direction
of motor) of positioning function.
(b) If pulse output direction is set as “CW” and machine moves forward direction in case of forward direction op
eration, it is set correctly.
(c) If pulse output direction is set as “CW” and machine moves reverse direction in case of forward direction op
eration, it is not set correctly. Set the pulse output direction as “CCW”. In case of forward direction operation,
if machine moves forward direction, it is set correctly.
(d) In the following figure, pulse output level is set as Low Active”
PLS/DIR
FP
Forward Reverse
RP
Reverse Forward
CW Setting CCW Setting

(7) M Code Output

(a) M code mode set by parameter shall be applied to all positioning data of the corresponding axis.
(b) Available to set M code number differently at each operation step no. of positioning data.
(c) M code number setting range : 1 ∼ 65,535
(d) Available to read and use M code for the identification of operation step no. in operation and the execution of auxiliary
works (Clamp, tool change etc).
(e) M code signal occurring during the operation shall be reset by “MOF” command.
Notes
If you execute the next step after the positioning is completed and M code signal is “ON”, the next operation step no. does not work
and the error code(233) will occur. Therefore, in order to execute the positioning of the next operation step number, M code signal
should be “OFF” by “MOF” command
(f) There are two kinds of M code mode according to the output timing of M code signal: With mode and After mode
(In case of setting NONE, There is no M code signal, even if M code No. was set.)
1) With mode
It turns on the M code signal and outputs M code number with start of positioning [Indirect start, direct start and
simultaneous start].
Speed
Dwell time Dwell time

Keep operation End operation
Time
Indirect start
In operation
M code On signal
M code No. m n 0
M code OFF command

2) After mode
It turns on the M code signal and outputs M code number after completion of positioning [indirect start, direct start
and simultaneous start].
Speed

Keep operation End operation
Time
Indirect start
M code on
M code on signal
M code No. 0 m 0 n 0
M code OFF command
(8) Interpolation speed selection

It selects whether to consider the operation speed of the position data as main axis speed or synthetic speed.
Main Main
AXIS AXIS
Synthetic
speed Main axis
Data
Sub Sub
AXIS AXIS
Calculated by PLC Calculated by PLC
< Synthetic Mode> < Main axis Mode>
(9) Software limit detect

(a) Selects whether to stop the operation or not when detecting software limit.
(b) If the software upper/lower limit is set as default value (upper limit: 2,147,483,647, lower limit: -2,147,483,648) or
same value, it wouldn’t detect software upper/lower limit.

(10) Acceleration/Deceleration Pattern

(a) There are 2 kinds of Acceleration/Deceleration operation pattern: Trapezoid operation and S-Curve operation.
(b) In case of positioning operation, it is available to select operation pattern (either trapezoid operation or S-Curve operation) at the
section of acceleration and de deceleration.
(c) As it is not possible to use S-Curve operation pattern in case of continuous operation mode and speed override, care should be
taken in setting.
(d) By using S-Curve acceleration/deceleration, it is available to protect the motor from the load effect at the point that the motor starts
to move the moving object and stops it.
Speed Speed
Acc/Dec. section is linear Acc/Dec. section is Sinusoidal curve

Time Time
<Trapezoidal method> <S-Curve method>
(11) S-curve rate

(a) In case of selecting S-Curve operation as an acceleration/deceleration pattern, S-Curve rate (1~100%) should be
set.
(b) According to S-Curve rate, S-Curve operation pattern shall be formed in accordance with Sinusoidal curve.
(c) If S-Curve rate is 1%, it becomes the same as trapezoid operation and if the 100% rate is set, it becomes the
acceleration/deceleration curve which is the closest to the Sinusoidal Curve.
(d) The figure as below shows the example of S-Curve rate setting
Speed S-Curve rate

100% 100%
50% 50%
1% 1%
Time

(12) Linear interpolation positioning method

In case control method is linear interpolation or circular interpolation and operation method is continuous operation,
positioning control will be different in accordance with the value set in “Int continuous opr. Type”.
The two method types of interpolation control continuous operation are as follows;
- Pass target position (Passes designated target position)
- Pass near position (Before reaching target position of current step, moves to target position of next step
Setting range of the Interpolation continuous operation positioning method is as follows;
Items Setting value Description

In case of continuous operation from current step to next step, it passes target
0 : Pass target position
Interpolation position of current step.
continuous
operation method In case of continuous operation from current step to next step, it passes near
1 : Pass near position
target position of current step
For further information, please refer to operation mode (4) continuous operation of 9.2.2 positioning control.
(13) Arc insertion during 2-axis linear interpolation continuous operation

When executing linear interpolation, determine whether to add arc during 2-axis linear interpolation continuous operation.
Here describes Arc insertion during 2-axis linear interpolation continuous operation
Setting item Setting Value Content
Arc insertion during 2-axis 0 : Don’t insert When executing 2-axis linear continuous interpolation, doesn’t inserts arc..
linear interpolation
continuous operation 1 : insert arc When executing 2-axis linear continuous interpolation, inserts arc.
For further information about Arc insertion during 2-axis linear interpolation continuous operation, please refer to
(4) 2-axis linear interpolation continuous operation arc insertion of 2-axis linear interpolating control of 9.2.6.
(14) Arc insertion position

When 「Arc insertion」 was set as “insert arc”, confirm the position where it was set by ‘inputting circular arc continuous
operation’, reset start position of circular interpolation(Goal position of linear path 1) and goal position
(Start position of linear path 2).
This is the setting of ‘Position-specified speed override coordinate’.
Item Setting value Content
Position of inputting circular arc
Set the position that circular will be inputted. It is relative distance from
from axis 2 linear interpolation 0 ~ 2,147,483,647
goal position..
For further information about inputting circular arc from axis 2 linear interpolation continuous operation, please refer to (4)
inputting circular arc from axis 2 linear interpolation continuous operation of control linear interpolation (9.2.6).

(15) Position-specified speed override coordinate

Position-specified speed override command is the command changing the operation speed when the object reaches
the specified position. At this time, operation may be different according to the type of position value. Position value can
be absolute position value or incremental position value.
This is the setting of ‘Position-specified speed override coordinate’.
0 : ABS Speed changes at the specified absolute position.

Position-specified
speed override coordinate
1 : INC Speed changes at the position as far as the set value from start position.
For further information, refer to 9.5.6 position-specified speed override.
(16) Speed/Position switching coordinate

If “Speed/Position switching command” is executed during speed control, speed control changes into position control
and executes position control with the value set in target position. At this time, this sets whether to consider the target
position as absolute position value or incremental position value.
This is the setting of “Speed/Position switching coordinate”.

Executes positioning as far as the set value from position where
0 : INC
Speed/position switching speed/position switching command is executed.
coordinate Considers the set value as absolute position and executes positioning
1 : ABS
into the set absolute position.
For further information, refer to 9.2.14 speed/position switching control.

5.4 Manual Operation Parameter

Here describes Manual operation parameter of embedded positioning.
Manual operation parameter use in event that operation of JOG, Inching is used
5.4.1 Manual Operation Parameter

Manual operating parameter item Setting range
㎜ :1 ∼ 2,147,483,647 [X10-2㎜/ min]
JOG high speed
Inch : 1 ∼ 2,147,483,647 [X10-3Inch/ min]
degree : 1 ∼ 2,147,483,647 [X10-3 degree/min]
JOG low speed
pulse : 1 ∼ 200,000 [pulse/sec]
JOG acceleration speed (ms)
0 ~ 2,147,483,647 [ms]
JOG deceleration speed (ms)
㎜ :1 ∼ 65,535[X10-2㎜/min]
Inch : 1 ∼ 65,535[X10-3Inch/min]
Inching Speed
degree : 1 ∼ 65,535[X10-3 degree/min]
pulse : 1 ∼ 65,535[pulse/sec]
5.4.2 Manual Operation Parameter Setting

(1) JOG high Speed
(a) Jog speed is related to Jog operation (a kind of manual operation) and has 2 types of operation : Jog low speed
operation and Jog high speed operation.
(b) For further information, please refer to 9.3.1 JOG Operation.
(c) JOG high speed operation has operation pattern as acceleration, constant speed, deceleration section. Therefore,
acceleration section and deceleration section is controlled by JOG acceleration/deceleration time.
(d) Jog high speed setting range
All of control by embedded positioning is made within speed limit. Therefore, jog high speed also couldn’t exceed the
speed limit and must be larger than jog low speed.
(Notices when setting the high speed : Bias speed ≤ Jog low speed ≤ Jog high speed ≤ Speed limit)
(2) JOG Low Speed

(a) JOG low speed operation has operation pattern as acceleration, constant speed, deceleration section.
(b) JOG low speed setting range : Bias speed ∼ Jog high speed
(3) JOG Acceleration/Deceleration Time

(a) This means JOG acceleration/deceleration time when Jog high speed and low speed operation.
(b) JOG acceleration/deceleration time setting range : 0 ∼ 2,147,483,647 [ms]
In case of 0, operates according to acceleration time 1 and deceleration time 1 of parameter..
(4) Inching Speed

(a) The speed necessary for inching operation is set here.
(b) Inching speed setting range : 1 ∼ 65,535(unit: 1pps)

5.5 Homing Parameter

Here is describes about homing parameter of embedded positioning.
Homing parameter is needed when positioning module return to origin.
5.5.1 Homing Parameter

Homing Parameter option Setting range
㎜ : -2147483648 ∼ 2147483647 [X10-4㎜]
(-2147483648 ∼ 2147483647 [X10-1㎛])
Origin address Inch : -2147483648 ∼ 2147483647 [X10-5Inch]
degree : -2147483648 ∼ 2147483647 [X10-5degree]
pulse : -2147483648 ∼ 2147483647 [pulse]
㎜ : Bias Speed ∼ Speed Limit(Homing Low Speed<=Homing high Speed)
Homing-high speed
Inch : Bias Speed ∼ Speed Limit(Homing Low Speed<=Homing high Speed)
degree : Bias Speed ∼ Speed Limit(Homing Low Speed<=Homing high Speed)
Homing-low speed
pulse : Bias Speed ∼ Speed Limit(Homing Low Speed<=Homing high Speed)
Homing Acceleration time
0 ~ 2,147,483,647 [ms]
Homing deceleration time
Homing dwell time 0 ~ 65,535[ms]
㎜ : -2147483648 ∼ 2147483647 [X10-3㎜]
(-2147483648 ∼ 2147483647 [X10-1㎛])
Origin compensation amount Inch : -2147483648 ∼ 2147483647 [X10-5Inch]
degree : -2147483648 ∼ 2147483647 [X10-5degree]
pulse : -2147483648 ∼ 2147483647 [pulse]
Homing restart waiting time 0 ~ 65,535[ms]
0:Dog/Home(Off), 1: Dog/Home (On), 2:Upper-Lower Limit/Home,
Control Homing mode(bit 0 ~ 2)
3:Dog, 4:High Speed Homing, 5: Upper-Lower Limit, 6: Home
word
Homing direction(bit 3) 0:forward direction, 1:reverse direction

5.5.2 Homing parameter setting

(1) Homing Method
(a) There are 7 kinds of Homing method.
Homing method XG-PM Software package indication

Origin detection after DOG OFF 0: DOG/origin(OFF)
Origin detection after deceleration when DOG ON 1: DOG/origin(ON)
Origin detection by the origin and Upper/Lower limit 2: High/low limit/origin
Origin detection by DOG 3: DOG
High speed homing 4: High speed origin
Origin detection by Upper/Lower limit 5: High/low limit
Origin detection by HOME 6: HOME
(b) For further information of homing method, please refer to 9.1 homing of chapter 8
(2) Homing direction

(a) There are 2 kinds of homing direction, forward direction and reverse direction.
(b) In case of homing command was set by forward, begin to homing operation to currently increasing direction of position,
searching needed external signal for homing.
(c) In case of homing command was set by reverse, begin to homing operation to currently decreasing direction of
position, searching needed external signal for homing.
(3) Origin Address

(a) When homing is completed by homing command, the value set by homing address shall be used to change the
present address value.
(b) Setting range of homing address: -2,147,483,648 ∼ 2,147,483,647(unit: pulse)

(4) Origin compensation amount

(a) If the machine origin is deviated slightly – the difference between the setting value and the actual transfer amount
caused by the mechanical tolerance - at the origin detection (Z phase input), this is used to compensate the tolerance.
(b) If origin compensation amount is set, PLC outputs additional pulses as much as data amount set as origin
compensation amount after detecting origin. If origin compensation amount is (+), it moves to the homing direction.
if origin compensation amount is (-), it moves to the opposite direction of homing.
(c) Origin compensation amount setting range : -2,147,483,648 ∼ 2,147,483,647 (unit: pulse)
(d) This picture is one of the examples about homing method that was applied by homing compensation amount from
“Origin detection after DOG OFF”.
Homing High Speed

Homing Dwell Time
Origin
Homing Low Speed Compensation
amount
Homing
DOG
HOME
Completion of
Homing
(5) Homing-High speed

(a) There are 2 kinds of homing speed : high speed and low speed.
(b) There is two stage in homing action ; ‘Detecting Home'& ‘Detecting Home area’.
PLC stop moving immediately when detects the Home signal. therefore when homing speed is fast, there can be
difference between "the origin signal" and "the stopped postion of machine" . Therefore, The moving speed must be
low enough to stop in the correct home signal position and this speed is "homing low speed". But, need to move as
fast as possible until detecting " Home Area(DOG)". This speed is is "homing High speed".
(c) All of the control by positioning module doing work within speed limit. And Homing high speed also can’t exceed speed
limit. And, Homing high speed must be faster than or same with homing low speed.
• Bias speed ≤ Homing-low speed ≤ Homing-high speed ≤ Speed limit
(6) Homing-Low speed

(a) The speed that acts to the constant speed section from high speed section via deceleration section by homing
command.
Notes
When setting the homing speed, it is recommended to set the homing-low speed as low speed as possible.
If setting the low speed as “too fast”, it may cause the incorrect origin signal detection.

(7) Homing restart waiting time

(a) It is standby time until restart "Homing" automatically in case that can't complete "Homing" by detection of high/low
limit during homing operation. (b) Motor do not move while it was set by reset time.
(b) Motor do not move while this time.
(8) Homing accelerating speed/ deceleration speed

(a) When operates by homing command, it will be accelerate or decelerate by the homing acceleration time and homing
deceleration time".
(b) Available range is 0 ~ 2,147,483,647 [ms].
if it is set by ‘0’, It will be accelerate or decelerate according to acceleration/deceleration time1 of basic parameter
when homing.
(9) Homing dwell time

(a) This is the time needed to maintain the precise stop accuracy of SERVO motor when using the SERVO motor for
positioning.
(b) Practically, Dwell time is the time needed to remove the residual pulse of deviation counter after completion of
positioning and especially Dwell time when returning to the origin is called as “homing dwell time”.
(c) Setting range of Homing dwell time : 0 ∼ 65,535(unit: 1㎳)

5.6 I/O Signal Parameter

Here describes using input/output signal parameter in embedded positioning.
Input/output signal parameter use to decide active level of input signal.
5.6.1 I/O Signal Parameter
Input/output signal parameter Item Setting range

High limit signal
Low limit signal
DOG signal 0 : A contact(Normaly Open), 1 : B contact(Normaly Close)
Home signal
Deviation signal
Upper limit signal All P area
lower limit signal All P area
DOG signal Output P area
HOME signal All P area
5.6.2 Setting Range of I/O Signal Parameter

In case of setting the input signal by A contact, it acts when external is ON and in case of setting by B contact, it acts when
external signal is OFF.
(1) If setting the upper limit signal of input signal parameter by A contact and the lower limit signal by B contact, the upper limit
is detected when external upper limit signal is ON while the lower limit is detected when external upper signal is OFF.
(2) If selecting Emergency stop from External stop selection of extended parameter, the external input signal is used by
Emergency stop signal. And if setting Emergency stop signal of input signal parameter by A contact, the positioning
module stop immediately when Emergency stop signal is ON. On the contrary, if setting Emergency stop signal of input
signal parameter by B contact, the positioning module stop immediately when external Emergency stop signal is OFF.
(3) If setting the home signal of input signal parameter by A contact, the origin is detected when external home signal is
‘Rising edge’, while if setting by B contact, the origin is detected when external home signal is ‘Falling edge’.

5.7 Common Parameter

Here describes common parameter of embedded positioning.
The parameter which was related with embedded positioning is applied to all of the parameter.
5.7.1 Common parameter
Common Parameter Item Setting range

Pulse output level 0: Low Active, 1: High Active
Control word Speed override 0: % designate, 1 : Speed designate
Control period 1~10ms

5.7.2 Common Parameter Setting
(1) Speed override

(a) When operate changing speed command (Speed override, Positioning speed override, etc), select speed(will be
changed) or percentage of goal speed.
(b) In case of setting percentage (%) can set each from 0.01% to 655.35%( unit: 0.01%)
(4) Continuous Operarion
(a) The embedded positioning function generate speed profile for each predetermined period.
If continuous operation is disabled, Speed profile will be generated every 1ms and will be generated every 5ms if
enabled
(b) if Continuous Operation parameter is disabled, Continuous operation command can not be executed
(Error Code 160 occurs)
(c) The figure below shows example of generated speed profile of trapezoidal acceleration.
Speed
Ideal Speed profile
Generated Speed profile
Time
Control
period

5.8 Operation Data

Here describes Operation Data of positioning module.
Can set 400 operation data per each axis, operation of circular interpolation and Linear interpolation act in accordance with
information of operation data.
5.8.1 Operation Data
Operation data item Setting range

㎜ : -2147483648 ∼ 2147483647 [X10-4㎜]
Goal position
(-2147483648 ∼ 2147483647 [X10-1㎛])
Inch : -2147483648 ∼ 2147483647 [X10-5Inch]
Circular interpolation aux. Position *1 degree : -2147483648 ∼ 2147483647 [X10-5degree]
pulse : -2147483648 ∼ 2147483647 [pulse]
㎜ : Bias Speed ∼ Speed Limit
Inch : Bias Speed ∼ Speed Limit
Operation speed
degree : Bias Speed ∼ Speed Limit
pulse : Bias Speed ∼ Speed Limit
Dwell time 0 ~ 65,535[ms]
M Code no. 0 ~ 65,535
Setting the axis of ordinates Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- - - - 축4 축3 축2 축1
Helical interpolation axis 0, 1 axis ~ 4 axis (Set‘0’,normal circular interpolation)

The number of circular interpolation turn 0~65,535
Coordinate (bit 0) 0:absolute, 1:incremental
0:Single axis positioning, 1: Single axis speed control
Control method (bit 1~3) 2: Single axis Feed control, 3: linear interpolation,
4: Circular interpolation
Operation method 0:Singular, 1:Repeat
Control
Operation pattern 0:end, 1:Keep, 2: Continuous
Word
Circular size (bit 7) 0: Arc <180 1: Arc >=180
Acceleration No. (bit 8~9) 0~3
Deceleration No. (bit 10~11) 0~3
Circular interpolation method(bit 12~13) 0:midpoint, 1:central point, 2:radius
Circular interpolating direction (bit 14) 0:CW, 1:CCW
Notes
*1 The circular interpolation can not be executed in degree unit. Therefore it is idle to set value at the circular interpolating
auxiliary position item.

4.8.2 Operation Data Setting

(1) Step No
(a) The setting range of positioning data as serial no. is 0 ∼ 400.
(b) The first Starting step of operation data is no.1 step.
Notes
In case of designating step number as ‘0’ with indirect start, Simultaneous start, Position synchronous start, it means
current operation step.
(2) Coordinate
(a) Coordinate of position data includes absolute coordinate and incremental coordinate.
1) Absolute Method
a) This carries out the positioning control from the current position to the goal position
(the goal position assigned by positioning data).
b) Positioning is carried out based on the assigned position of homing (origin address).
c) Transfer direction shall be determined by the current position and goal position.
▶ Start position < Goal position : forward direction positioning
▶ Start position > Goal position : reverse direction positioning
[Example]
■ When current position : 1000 , Goal position : 8000, forward direction transfer amount is 7000(8000-1000).
0 1000 8000
Transfer amount: 7000
Current position Goal position
Notes
Positioning by Absolute method (Absolute coordinate) can start only in the state that the origin is determined.
If starting in the state that the origin is not determined, Error will occur.
2) Incremental method
a) This carries out the positioning control as much as goal transfer amount from the current position.
b) Transfer direction shall be determined by the sign of transfer amount..
■ When transfer direction is (+) or no sign : forward direction positioning (position increase direction)
■ When transfer direction is ( - ) : reverse direction positioning (position decrease direction)
Current position
Reverse Forward
Transfer direction when transfer amount is (-) Transfer direction when transfer amount is (+)
[Example]

■ When current position : 5000 , Goal position : -7000, the positioning shall be done at –2000 position.
-2000 0 5000
Reverse positioning control (transfer amount -7000)
Goal position Current position
(3) Control Method

(a) Select the control method: single-axis position control, single-axis Speed control, single-axis Feed control, linear
interpolation, circular interpolation.
(b) For further information, please refer to 9.2 Positioning control of Chapter 8 “Function”.
Notes
Set coordinate and control method in all at the same time in “control method” item with positioning software package.
And the software package “Control Method” item is same as follows
Absolute, Single-axis Positioning Control / Absolute, Single-axis Speed Control
/ Absolute, Single-axis FEED control / Absolute, linear Interpolation / Absolute, Circular Interpolation
/ Relative, Single-axis Positioning Control / Relative, Single-axis Speed Control / Relative, Single-axis FEED control
/ Relative, linear Interpolation / Relative, Circular Interpolation
(4) Operation Pattern (End/Keep/Continuous)

(a) Operation pattern is setting item, how can step of operation data connect with next step and operate.
(b) Select one operation pattern from End, Keep, Continuous operation.
(c) For further information, please refer to 9.2.2 operation mode of Positioning control of Chapter 9 “Function”.
(5) Operation Method (Singular/Repeat)

(a) Operating Method is an option for selecting a operating step after finish operating step from the driving data setting
step.
(b) In case of setting singular, it will be select next step after finish operating settled step. If you set by Repeat, It will be
select settled Repeat step after finish operating settled step.
(c) Select one positioning operation pattern from Singular, Repeat operation.
(d) For further information, please refer to 9.2.2 operation mode of positioning control of Chapter 8 “Function”.
Notes
Set operation pattern and operation method at the “operation method” item with SM-PM software package.
These are “operation method” item;
Singular,End / Singular,Keep / Singular,Continuous / Repeat,End / Repeat,Continuous / Repeat,Continuous.
(6) Goal Position

(a) This is the area to set the transfer amount of position data as “position value”.
(b) The setting range is –2,147,483,648 ∼ 2,147,483,647[unit]

(7) M Code
(a) M code is applied to the whole axis in a bundle by M code mode set by positioning parameter and is given to each
operation step no. as a Number within the setting range to use at Program.
(b) The setting range is 1 ∼ 65,535
(c) M code no. can be identified by read by the operation state code
(d) For further information, please refer to M code output of chapter 5.3.2.(7)
(8) Acceleration/Deceleration No
(a) The dual acceleration/deceleration time setting is available by setting the acceleration/deceleration time 1/2/3/ 4 of
basic parameter as acceleration/deceleration no. 1/2/3/4 respectively.
(9) Operation Speed

(a) Operation speed is the goal speed which it is applied when it operate positioning
(b) Operation speed is set within the range that does not exceed Speed limit of basic parameter.
(10) Dwell Time

(a) This is the waiting time before carrying out the next positioning operation after completing one positioning operation.
(b) Setting range is 0 ∼ 65,535 (㎳).
(c) Especially, in case of using SERVO motor, this is the data to set the waiting time by the stable stop state as positioning
module is in the stop state but actual SERVO motor does not reach to the goal position or in transition state.
(d) While dwell time is active, the corresponding axis of positioning module maintains “ON” of the “Busy Flag” and if dwell
time proceeds, “Busy Flag” becomes “OFF” and the positioning end signal becomes “ON”.
(11) Setting Axis of ordinates

(a) This is an option for axis of ordinates of driving shaft when should operate at least over 2 axis such as linear
interpolation or circular interpolation.
(b) Setting each bit from 1 axis to 4 axis. Each bit is as follows
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- - - - Axis 4 Axis 3 Axis 2 Axis 1
(c) Could choice multiple axes. For example, If choice axis 2 and axis 4 as axis of ordinates, set “000A’by hexadecimal in
setting axis of ordinates.
(12) Circular interpolating auxiliary position

(a) This is an option for setting auxiliary data when the circular interpolation operates.
(b) According to circular interpolation, mean of circular interpolating auxiliary position is decided.
It means midpoint which is through by circular arc in midpoint method.
It is central point of circular arc in central point method. And It is radius of circular arc in radius method.
(c) In case that circular interpolation method is radius, be valid only value of circular interpolating auxiliary position of
principal axis.
(d) For further information, please refer to “Circular interpolating control” of 9.2.9 ~ 9.2.11.
(13) Circular interpolating method

(a) This is an option for method setting from circular interpolating operation.
(b) There are three method for circular interpolation; midpoint, central point, radius.
(c) For further information, please refer to “Circular interpolation control” of 9.2.9 ~ 9.2.11.

(14) Circular interpolating direction

(a) This is an option for setting direction of drawing circle from circular interpolating operation when the operation starts.
(b) Circular interpolation direction is based on drawing circular interpolation when the principal axis is axis ‘X’ and the axis
of ordinates is axis ‘Y’.
(c) This option is ignored from circular interpolation of midpoint because circular interpolating direction is selected by
position of midpoint.
(d) For further information, please refer to circular interpolation of 9.2.9 ~ 9.2.11.
(15) Circular arc size

(a) When circular interpolating method is set by radius method, User can select one of 2 circular arcs.
(b) Select one of over the 180-degree circular interpolation or under the 180-degree circular interpolation.
(c) This option is ignored in the circular interpolation of midpoint method and central point method.
(d) For further information, please refer to designating radius circular interpolation of 9.2.11
Notes
Positioning software package set as follows at a time;
- circular arc method, circular interpolating direction, circular arc size with ‘Circular interpolating mode’.
Software package ‘Circular interpolating mode’ is as follows ;
- Midpoint / Central point, CW / Central point, CCW / Radius, CW, Circular arc < 180-degree / Radius , CW ,
Circular arc >= 180-degree / Radius, CCW, Circular arc < 180-degree / Radius, CCW, Circular arc >= 180-degree
(16) The number of circular interpolating turn

(a) This is an option setting the number of rotation of circular arc when operating over the 360-degree.
(b) Setting range is 1 ~ 65,535.
(17) Helical interpolation axis

(a) It is item which is setting axis for linear operation in operating helical interpolation.
(b) Settled axis from helical interpolation rectilinearly operates to settled position at the goal position.
(c) For further information, please refer to helical interpolating control of 9.2.12.

Chapter 6 Internal Memory and I/O Signal

6.1 Internal Memory
Here describes the internal memory used for positioning module if ML50 Main unit
Internal memory is used when executing direct Data read/write between positioning module and PLC CPU by using
PUP(PUTP), GET(GETP) command instead of using the dedicated command. For Data read/write using the dedicated
command, please refer to 7.2 Dedicated Command
6.1.1 Step Data during Point Start

(1) Memory Address of POINT Start Step Data
Memory Address
Description
1 axis 2 axis 3 axis 4 axis 5 axis 6 axis
2A1 32D 3B9 445 4D1 55D Point Operation Step 1
2A2 32E 3BA 446 4D2 55E Point Operation Step 2
2A3 32F 3BB 447 4D3 55F Point Operation Step 3
2A4 330 3BC 448 4D4 560 Point Operation Step 4
2A5 331 3BD 449 4D5 561 Point Operation Step 5
2A6 332 3BE 44A 4D6 562 Point Operation Step 6
2A7 333 3BF 44B 4D7 563 Point Operation Step 7
2A8 334 3C0 44C 4D8 564 Point Operation Step 8
2A9 335 3C1 44D 4D9 565 Point Operation Step 9
2AA 336 3C2 44E 4DA 566 Point Operation Step 10
2AB 337 3C3 44F 4DB 567 Point Operation Step 11
2AC 338 3C4 450 4DC 568 Point Operation Step 12
2AD 339 3C5 451 4DD 569 Point Operation Step 13
2AE 33A 3C6 452 4DE 56A Point Operation Step 14
2AF 33B 3C7 453 4DF 56B Point Operation Step 15
2B0 33C 3C8 454 4E0 56C Point Operation Step 16
2B1 33D 3C9 455 4E1 56D Point Operation Step 17
2B2 33E 3CA 456 4E2 56E Point Operation Step 18
2B3 33F 3CB 457 4E3 56F Point Operation Step 19
2B4 340 3CC 458 4E4 570 Point Operation Step 20
(2) POINT Start Step Data Setting

(a) The POINT start step data setting command for POINT start during POINT operation is XPM_PST.
(b) References for XPM_PST (command of MLU-H2/HP point operating) and XPWR (command of point operating
step data setting) are on ‘Chapter 7.3.38’.
(c) In PLC program, POINT operation data setting during POINT operation should be done in the step before POINT
operation command is executed for normal action of POINT operation.

6.1.2 Teaching Data

(1) Memory Address of Teaching Data
Memory Address
Description
1 axis 2 axis 3 axis 4 axis 5axis 6 axis
280 30C 398 424 4B0 53C Teaching Data1(LOWER)
281 30D 399 425 4B1 53D Teaching Data1(UPPER)
282 30E 39A 426 4B2 53E Teaching Data2(LOWER)
283 30F 39B 427 4B3 53F Teaching Data2(UPPER)
284 310 39C 428 4B4 540 Teaching Data3(LOWER)
285 311 39D 429 4B5 541 Teaching Data3(UPPER)
286 312 39E 42A 4B6 542 Teaching Data4(LOWER)
287 313 39F 42B 4B7 543 Teaching Data4(UPPER)
288 314 3A0 42C 4B8 544 Teaching Data5(LOWER)
289 315 3A1 42D 4B9 545 Teaching Data5(UPPER)
28A 316 3A2 42E 4BA 546 Teaching Data6(LOWER)
28B 317 3A3 42F 4BB 547 Teaching Data6(UPPER)
28C 318 3A4 430 4BC 548 Teaching Data7(LOWER)
28D 319 3A5 431 4BD 549 Teaching Data7(UPPER)
28E 31A 3A6 432 4BE 54A Teaching Data8(LOWER)
28F 31B 3A7 433 4BF 54B Teaching Data8(UPPER)
290 31C 3A8 434 4C0 54C Teaching Data9(LOWER)
291 31D 3A9 435 4C1 54D Teaching Data9(UPPER)
292 31E 3AA 436 4C2 54E Teaching Data10(LOWER)
293 31F 3AB 437 4C3 54F Teaching Data10(UPPER)
294 320 3AC 438 4C4 550 Teaching Data11(LOWER)
295 321 3AD 439 4C5 551 Teaching Data11(UPPER)
296 322 3AE 43A 4C6 552 Teaching Data12(LOWER)
297 323 3AF 43B 4C7 553 Teaching Data12(UPPER)
298 324 3B0 43C 4C8 554 Teaching Data13(LOWER)
299 325 3B1 43D 4C9 555 Teaching Data13(UPPER)
29A 326 3B2 43E 4CA 556 Teaching Data14(LOWER)
29B 327 3B3 43F 4CB 557 Teaching Data14(UPPER)
29C 328 3B4 440 4CC 558 Teaching Data15(LOWER)
29D 329 3B5 441 4CD 559 Teaching Data15(UPPER)
29E 32A 3B6 442 4CE 55A Teaching Data16(LOWER)
29F 32B 3B7 443 4CF 55B Teaching Data16(UPPER)
(2) Setting
(a) The command of Teaching data setting is XPM_ATEA
(b) References for XPM_ATEA (command of Teaching) and XPM_WRT (command of Teaching Data Setting ) are
on ‘Chapter 7.3.25’.
(c) In PLC program, in order to carry out the normal action of Teaching command, the Teaching data setting should
be done in the step before Teaching command is executed.

6.1.3 Step Data of Simultaneous Start

(1) Step Data of Simultaneous Start Memory Address
Memory Address
Description
2B6 342 3CE 45A 4E6 572 Simultaneous Start 1axis Step
Number
2B7 343 3CF 45B 4E7 573 Simultaneous Start 2axis Step
Number
2B8 344 3D0 45C 4E8 574 Simultaneous Start 3axis Step
Number
2B9 345 3D1 45D 4E9 575 Simultaneous Start 4axis Step
Number
2BA 346 3D2 45E 4EA 576 Simultaneous Start 5axis Step
Number
2BB 347 3D3 45F 4EB 577 Simultaneous Start 6axis Step
Number
(2) Setting
(a) The command for Step Data of Simultaneous Start setting is XPM_SST
(b) References for XPM_SST (command of Simultaneous Start) on ‘Chapter 7.3.5
(c) In PLC program, in order to carry out the normal action of Simultaneous Start, the Step data setting of
Simultaneous Start should be done in the step before Simultaneous Start command is executed.

6.1.4 Status Information

(1) Memory Address of Status Information
XSRD Command Memory Address

Description
Device Offset 1 axis 2 axis 3 axis 4 axis 5 axis 6 axis
0 2C0 34C 3D8 464 4F0 57C Operation state bit information (Lower)
1 2C1 34D 3D9 465 4F1 57D Operation state bit information (Upper)
2 2C2 34E 3DA 466 4F2 57E Axis information
3 2C3 34F 3DB 467 4F3 57F External I/O signal state
4 2C4 350 3DC 468 4F4 580 Current Position ( LOWER)
5 2C5 351 3DD 469 4F5 581 Current Position ( UPPER)
6 2C6 352 3DE 46A 4F6 582 Current Position ( LOWER)
7 2C7 353 3DF 46B 4F7 583 Current Position ( UPPER)
8 2C8 354 3E0 46C 4F8 584 Step Number
9 2C9 355 3E1 46D 4F9 585 M Code Number
10 2CA 356 3E2 46E 4FA 586 Current error information
11 2CB 357 3E3 46F 4FB 587 Error information 1
12 2CC 358 3E4 470 4FC 588 Error information 2
13 2CD 359 3E5 471 4FD 589 Error information 3
14 2CE 35A 3E6 472 4FE 58A Error information 4
15 2CF 35B 3E7 473 4FF 58B Error information 5
16 2D0 35C 3E8 474 500 58C Error information 6
17 2D1 35D 3E9 475 501 58D Error information 7
18 2D2 35E 3EA 476 502 58E Error information 8
19 2D3 35F 3EB 477 503 58F Error information 9
20 2D4 360 3EC 478 504 590 Error information 10
21 2D5 361 3ED 479 505 591 Encoder Value1 (LOWER)
22 2D6 362 3EE 47A 506 592 Encoder Value1 (UPPER)
23 2D7 363 3EF 47B 507 593 Encoder Value2 (LOWER)
24 2D8 364 3F0 47C 508 594 Encoder Value2 (UPPER)
25 2D9 365 3F1 47D 509 595 Encoder Value3 (LOWER)
26 2DA 366 3F2 47E 50A 596 Encoder Value3 (UPPER)
27 2DB 367 3F3 47F 50B 597 Encoder Value4 (LOWER)
28 2DC 368 3F4 480 50C 598 Encoder Value4 (UPPER)
(2) Setting
(a) The area of state information of internal memory is the Read only area. Thus, it is available to use only by GET,
GETP command. (PUT, PUTP command is not allowed to use in this area).
(b) The command of State Information ready only is XPM_SRD
(c) If you use only command XPM_SRD, the information of axis status is read at the same time.
(d) If you want to choose to read among the state information, it is available to read memory address of above table
using by GET/GETP

(e) Status Information details

1) Operation State Bit Information (Lower)
Memory Address
Information
2C0 34C 3D8 464 4F0 57C Operation State Bit Information (LOWER)
Bit 0 In operation [0: Stop 1: In operation]
Bit 1 Error [0: No Error 1: Error]
Bit 2 Position Completed [0: Not completed, 1: Completed]
Bit 3 M code signal [0: M code Off, 1: M code On]
Bit 4 Homing state [0: Not Fixed, 1:Fixed]
Bit 5 No use
Bit 6 Stop state [0: Not stop by stop command, 1: Stop by stop command]
Variable Data [0: Variable data access finished,

Bit 7
Read/Write 1: Variable data access is on going]
Bit 8 Upper Limit Detection [0: No Detection, 1: Detection]
Bit 9 Lower Limit Detection [0: No Detection, 1: Detection]
Bit 10 Emergency Stop state [0: Normal, 1: Emergency Stop]
Bit 11 Direction [0: Forward, 1: Reverse]
Bit 12 Acceleration State [0: Not Accelerating, 1: Accelerating]
Bit 13 Constant Speed state [0: Not Constant speed, 1: Constant speed]
Bit 14 Deceleration state [0: Not Decelerating, 1: Decelerating]
Bit 15 Dwell State [0: No Dwelling, 1: Dwelling]

2) Operation State Bit Information (Upper)
Memory Address
Information
2C1 34D 3D9 465 4F1 57D Operation State Bit Information
Bit 0 [SNG] Position Controlling [0: Position not in control, 1: Position in control]
Bit 1 [SNG]Speed Controlling [0: Speed not in control, 1: Speed in control]
Bit 2 Linear Interpolation [0: Not in operation, 1: In operation]
Bit 3 No use [0]
Circular Interpolation
Bit 4 [0: Not in operation, 1: In operation]
in Operation
Bit 5 Homing Operating [0: Not in operation, 1: In operation]
Synchronous Start by
Position in Operation
Synchronous Start by
speed in Operation
Bit 8 JOG Operation [0: Not in operation, 1: In operation]
Bit 9 No use [0]
Bit 10 Inching in Operation
Bit 11 No use [0]
Bit 12 RTP in Operation [0: Not in operation, 1: In operation]
Bit 13 CAM in Operation [0: Not in operation, 1: In operation]
Bit 14 FEED in Operation
Bit 15 Circular in Operation [0: Not in operation, 1: In operation]

3) Axis Information
Memory Address
Information
2C2 34E 3DA 466 4F2 57E Axis Information

4) External I/O Signal State
Memory Address
Information
2C3 34F 3DB 467 4F3 57F External I/O Signal State
Bit 0
Bit 1
No use [0]
Bit 2
Bit 3
Bit 4 Upper limit Signal [0: Upper limit Signal OFF, 1: Upper limit Signal ON]
Bit 5 Lower limit Signal [0: Lower limit Signal OFF, 1: Lower limit Signal ON]
Bit 6 HOME [0: HOME signal OFF, 1: HOME signal ON]
Bit 7 DOG [0: DOG signal OFF, 1: DOG signal ON]
Bit 8
Bit 9
Bit 10
Bit 11
No use [0]
Bit 12
Bit 13
Bit 14
Bit 15

6.2 K area Signal

Here describes the contents and functions of K area signal for the exchange of data between Positioning and CPU.
6.2.1 Contents of K area Signal
(1) Built-in positioning signal displays on K area.

(2) Built-in Positioning ready signal (%KX7007) becomes “ON” only when Modules are in normal state in H/W and it
always keeps “ON” regardless of PLC operation mode.
(3) Output Signal
This is the signal, which transfers to positioning module from PLC CPU.
Comment Variable K area Type R/W
1Axis Busy _POS_1_Busy %KX6720 BIT R
1Axis Error _POS_1_Err %KX6721 BIT R
1Axis Position Complete _POS_1_Done %KX6722 BIT R
1Axis M Code ON _POS_1_McodeOn %KX6723 BIT R


1Axis Home Complete _POS_1_OriginFix %KX6724 BIT R
1Axis Output Enable _POS_1_PlsOutEn %KX6725 BIT R
1Axis Stop _POS_1_Stop %KX6726 BIT R
1Axis Variable Data Read/Write _POS_1_VarWriteBusy %KX6727 BIT R
1Axis Upper Limit Detection _POS_1_ULimit %KX6728 BIT R
1Axis Lower Limit Detection _POS_1_LLimit %KX6729 BIT R


1Axis Emergency Stop _POS_1_Estop %KX6730 BIT R
1Axis CW/CCW _POS_1_Dir %KX6731 BIT R
1Axis Acceleration state _POS_1_Acc %KX6732 BIT R
1Axis Constant speed state _POS_1_Const %KX6733 BIT R
1Axis Deceleration state _POS_1_Dec %KX6734 BIT R
1Axis Dwell state _POS_1_Dwell %KX6735 BIT R


1Axis POSition control _POS_1_Position %KX6736 BIT R
2Axis Position control _POS_2_Position %KX7056 BIT R
1Axis Speed control _POS_1_Speed %KX6737 BIT R
1Axis Linear interpolation running _POS_1_LinearInt %KX6738 BIT R
1Axis Circular interpolation running _POS_1_CircleInt %KX6740 BIT R
1Axis Homing _POS_1_Home %KX6741 BIT R
1Axis POSition sync running _POS_1_PosSync %KX6742 BIT R
2Axis Position sync running _POS_2_PosSync %KX7062 BIT R


1Axis speed sync running _POS_1_SpdSync %KX6743 BIT R
1Axis Jog running _POS_1_JogBusy %KX6744 BIT R
1Axis Inching running _POS_1_Inching %KX6746 BIT R
1Axis RTP running _POS_1_RtpVusy %KX6748 BIT R
1Axis CAM running _POS_1_Cam %KX6749 BIT R
1Axis Feed control running _POS_1_Feed %KX6750 BIT R


1Axis Ellipse interpolation running _POS_1_Ellipse %KX6751 BIT R
1Axis Main axis _POS_1_MstAxis %KX6752 NIBBLE R
1Axis main/slave status _POS_1_AxisStatus %KX6756 BIT R
1Axis Positive limit signal _POS_1_ULSigStatus %KX6772 BIT R
1Axis Negative limit signal _POS_1_LLSigStatus %KX6773 BIT R
1Axis Home signal _POS_1_HomeSigStatus %KX6774 BIT R


1Axis Dog signal _POS_1_DogSigStatus %KX6775 BIT R
1Axis Current Position _POS_1_CurPos %KD212 DINT R
1Axis Current Speed _POS_1_CurSpd %KD213 DWORD R
1Axis Step Number _POS_1_Step %KW428 WORD R
1Axis M Code number _POS_1_MCodeNum %KW429 WORD R
1Axis Error Code _POS_1_ErrCode %KW430 WORD R


1Axis Target position _POS_1_TargetPos %KD216 DINT R
1Axis Target speed _POS_1_TargetSpd %KD217 DWORD R
1Axis Positive jog command _POS_1_CwJogStart %KX6976 BIT R/W
1Axis Negative jog command _POS_1_CcwJogStart %KX6977 BIT R/W
1Axis Jog speed command _POS_1_JogLowHigh %KX6978 BIT R/W
Internal position control ready _POS_Rdy %KX7007 BIT R
Internal position control data saving _POS_Writing %KX7006 BIT R
Encoder1 current position _ENC1_CurPos %KD269 DINT R


Current internal position control time(us) _POS_TASK_SCAN_CUR %KW546 WORD R
Maximum internal position control time(us) _POS_TASK_SCAN_MAX %KW547 WORD R
Internal position control period error _POS_TASK_SCAN_ERR %KW548 WORD R

6.2.2 Usage of I/O Signal

(1) JOG Operation
(a) Forward/Reverse Jog Signals show the direction of Jog Operation. The Jog operation shall be divided into
Forward/Reverse direction according to the On/Off signals. When Forward Jog Signal is On, it starts Forward
Operation and When Jog Signal is Off, it starts Reverse Operation. When both signals Off, it stops Jog Signals.
When both signals On, it does Forward Jog Signal.
Forward Jog Signal Reverse Jog Signal Jog Operation Status

On Off Forward Jog Operation
Off On Reverse Jog Operation
Off Off Stop
On On Forward Jog Operation
(b) If Jog direction is changed during Jog operation, it slows down at first and then operates as the direction it changed.
(c) According to value of Jog low/high Signals, it could operate with low/high speed. When jog low/high signals Off, it
operates with low speed and when they are ON, it operates with high speed.
(d) If you change value of low/high jog signals during Jog operation, there will be no stop and apply the speed as you
changed.
Speed
JOG High Speed
JOG Low Speed
Time
JOG Low Speed
JOG High Speed
JOG in
Operation
Forward JOG
Signal
Reverse JOG
Signal
JOG Low/High
Speed Signal

Position
Chap.7 Commands
Chap.7 Function block

It describes the function blocks used for the high-performance ML50 embedded positioning.
7.1 Common items of function blocks

The common I/O variables used for the positioning function blocks are as follows.
I/O Variable Name Data type Details
Execution request of function block
REQ BOOL -If the conditions connected to this area are established during executing the program and it
leads to “0→1” (edge or level), function blocks will run.
Base position number.
- The area is used to set up the numbers of the bases where positioning modules are
BASE USINT
equipped.
Input - Embedded positioning base No.: 0(Fixed)
Embedded positioning slot
SLOT USINT - The area is used to set up the numbers of slots where positioning modules are equipped.
- Embedded positioning slot No.: 1(Fixed)
Used axis No.
AXIS USINT - 1 ~ 6: 1 axis ~ 46axis
- If the values other than set value are selected, “error6” will occur.
Displaying the status that the execution of function blocks is completed.
DONE BOOL -When the function block is completed without error, “1” will be output and maintained until
Output next execution; If error occurs, “0” will be output.
Displaying error state
STAT UINT
- The area outputs the error No. when errors occur during executing function blocks.
(1) The errors that occur in STAT variables of the positioning function blocks are as follows.
STAT Details Description

0 Normal If function blocks are normally executed, DONE=1, STAT=0 will be output.
1 Base No. setting error It occurs when the base No.(BASE)’s set values are out of the range.
3 Slot No. setting error It occurs when the slot No.(SLOT)’s set values are out of the range(1 ~ 11).
It occurs when the module is not installed in the position that is specified as BASE,
4 Empty slot error
SLOT.
Mismatch of positioning It occurs when other modules are installed instead of the positioning modules in
5
modules the position that is specified as BASE, SLOT.
6 Axis No. error It occurs when the axis No.(AXIS)’s set values are out of the range(1 ~ 4).
It occurs when the previous function block that was executed prior to the current
one has not yet read by the positioning module. After the previously executed
Overlapping execution error of
10 function block is read by the positioning module, execute the other function block. It
function blocks
takes maximum 10ms for the positioning module to read the function block after
execution.
It occurs when the set values of variables are out of the range except BASE,
11 Input variables setting error SLOT, AXIS. Check the range of settable values for the variables in each function
block.
101 The error occurs from the positioning module as a result of executing function
Positioning module error
~ 811 blocks.

Position
Chap.7 Commands
(2) The setting ranges of the position and speed of the positioning function blocks are as follows. In this manual, pulse
and speed are based on the unit of pulse/sec
Area Setting unit Setting range

pulse -2,147,483,648 ~ 2,147,483,647[pulse]
mm -2,147,483,648 ~ 2,147,483,647[x 10-4mm]
Position
inch -2,147,483,648 ~ 2,147,483,647[x 10-5inch]
degree -2,147,483,648 ~ 2,147,483,647[x 10-5degree]
pulse/second 1 ∼ 2,000,000 [pulse/second]
mm/minute 1 ∼ 2,147,483,647 [X10-2㎜/minute]

Speed
inch/minute 1 ∼ 2,147,483,647 [X10-3Inch/minute]
degree/minute 1 ∼ 2,147,483,647 [X10-3 degree/minute]
(3) For the type and size of the data mainly used for the positioning function blocks, refer to the below table.
No. Reserved Data type Size(Bit) Range

word
1 BOOL Boolean 1 0, 1
2 SINT Short Integer 8 -128 ~ 127
3 USINT Unsigned Short Integer 8 0 ~ 255
4 INT Integer 16 -32768 ~ 32767
5 UINT Unsigned Integer 16 0 ~ 65535
6 DINT Double Integer 32 -2147483648 ~ 2147483647
7 UDINT Unsigned Double Integer 32 0 ~ 4294967295

Position
Chap.7 Commands
7.1.1 Pulse Width modulation output command
• Pulse width modulation (APM_PWM) is the operation to turn the output contact on/off with a fixed period and a specified
duty ratio.
• MLU-H2 can output two contacts %QX0.0.0 and QX0.0.1, MLU-HP can output six contacts
• PWM operation can be output with the positioning pulse example, to output PWM to the %QX0.0.0 contact, disabled.
For example, to output PWM to the %QX0.0.0 contact, disable the pulse output enable setting of the positioning 1 axis
basic parameter using % QX0.0.0 contact as output.
(1) Pulse width modulation output command (APM_PWM)
Function Block Type Details

Input
REQ : Request for executing function block
APM_PWM SLOT : Setting up the numbers of the bases
BOOL REQ DONE BOOL where modules are equipped.
SLOT STAT UINT (MLU-H2, MLU-HP are fixed as 1)
USINT
AXIS : Specifying contact point to command.
USINT AXIS
0~5 : %QX0.0.0~%QX0.0.5
UINT FREQ FREQ : Setting the output cycle. (ms)
UINT DUTY 1~20000
DUTY : OFF Duty rate (%)
0~100
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks.
(a) Function
This instruction is used to issue a PWM output command on the MLU-H2/HP output contact.
While the input condition is ON, the pulse is output to the contact specified by ax of ML50 output contact with the
cycle set to n1 and the OFF duty set to n2.
(b) Error
If the value specified FREQ or DUTY is out of the settable range, error codes 603 and 604 are output to STAT,
respectively, and the command is not executed.
Note
• It is not applicable even if the output cycle is changed during PWM output.

Position
Chap.7 Commands
(2) Example of using command

The operation of the PWM command is explained using the following program as an example.
An example of using the PWM command is described based on %QX0.0.0.
(a) Program example
(b) Used Device

Device Description
%MX0 PWM output command signal
(c) Program Operation

• %QX0.0.0 contact outputs the PWM signal out while %MX0 used as PWM command signal is on.
(It doesn’t work in case of the basic parameter pulse output of the embedded positioning 1 axis using %QX0.0.0
is set to output.)
• If the PWM command executed, the pulse will output as specified output cycle (500ms in this case) and off duty
(30 % in this case).
7.2 Positioning module function block

No. Name Description Operating conditions

Position
Chap.7 Commands
1 XPM_ORG Homing Start Edge

2 XPM_FLT Floating Origin Setting Edge
3 XPM_DST Direct Start Edge
4 XPM_IST Indirect Start Edge
5 XPM_SST Simultaneous Start Edge
6 XPM_VTP Speed/Position Switching Control Edge
7 XPM_VTPP Position specified Speed/Position Switching Control Edge
8 XPM_PTV Position/Speed Switching Control Edge
9 XPM_STP Deceleration Stop Edge
10 XPM_SKP Skip Operation Edge
11 XPM_SSP Position Synchronization Edge
12 XPM_SSS Speed Synchronization Edge
13 XPM_SSSP Position Assigned Speed Synchronization Edge
14 XPM_POR Position Override Edge
15 XPM_SOR Speed Override Edge
16 XPM_PSO Position Assigned Speed Override Edge
17 XPM_NMV Continuous Operation Edge
18 XPM_INC Inching Operation Edge
19 XPM_RTP Repeat Step Number Change Edge
20 XPM_SNS Start Step Change Edge
21 XPM_SRS Repeat operation step no. change Edge
22 XPM_MOF M Code Release Edge
23 XPM_PRS Current Position Change Edge
Encoder Value Preset (MLU-H2, MLU-HP Edge
24 XPM_EPREB
Embedded Position Only)
25 XPM_ATEA Teaching array Edge
26 XPM_SBP Basic parameter teaching Edge
27 XPM_SEP Extended parameter teaching Edge
28 XPM_SHP Homing parameter teaching Edge
29 XPM_SMP Manual operation parameter teaching Edge
30 XPM_SIP I/O signal parameter teaching Edge
31 XPM_SCP Common Parameter Teaching Edge
32 XPM_SMD Operation Data Teaching Edge
33 XPM_VRD Read Variable Data Edge
34 XPM_VWR Write Variable Data Edge
35 XPM_EMG Emergency Stop Edge
36 XPM_RST Error Reset Edge
37 XPM_HRST Error History Reset Edge
38 XPM_PST Point Start Edge
39 XPM_WRT Parameter/operation data save Edge
40 XPM_CRD Operation Information Read Level
41 XPM_SRD Operation State Read Level
Encoder Value Read(MLU-H2, MLU-HP Level
42 XPM_ENCRDB
Embedded Position Only)
43 XPM_JOG JOG Operation Level
44 XPM_CAM CAM Operation Edge
45 XPM_CAMO Main Axis Offset CAM Operation Edge
46 XPM_ELIN Ellipse Interpolation Edge

Position
Chap.7 Commands
47 XPM_RSTR Restart Edge
Notice
1. Dedicated commands for the embedded positioning can be divided into; the command that works on the rising edge, namely,
when input conditions are “On”, it performs operations only once. To perform operations again, input conditions should be “Off” and
then, “On”; the command that works at a high level, namely, it keeps performing operations while input conditions are “On” and
when input conditions are “Off”, it does not work.
Notice
▷ With the exception of XPM_SRD, XPM_CRD, XPM_ENCRD, the only one positioning function block should be executed
for the axis within a single scan. If you use the program as the below example, the function block will not work properly.
When executing different function blocks When executing the same function blocks
▷ For the different axis, you can simultaneously execute the same function blocks.
However, in the case of XPM_VRD, you cannot simultaneously execute function blocks within a single scan not only
for the same axis but also for different ones. If you execute the XPM_VRD commands at the same time in one scan,
the error code 811 will occur and XPM_VRD will not work after the first XPM_VRD.
7.3 How to use function block dedicated for positioning module

Position
Chap.7 Commands
7.3.1 Homing Start (XPM_ORG)

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
XPM_ORG modules are equipped
BOOL REQ DONE BOOL SLOT : Setting up the numbers of slots where modules
USINT BASE STAT UINT are equipped
USINT SLOT AXIS : Specifying the axis to give commands
USINT AXIS 1 ~ 6: 1 axis ~ 6 axis
Output
executing function blocks
(1) It gives homing command to the positioning module.

(2) It is the operation command to find the origin of the machine based on homing mode with direction, compensation
amount, speed(high speed, low speed), address and dwell time that are set as homing parameters of each axis.
(3) The homing command is sent to the axis specified as AXIS of the embedded positioning.
(4) In AXIS, you can set up the axis to command and select one among 1~6. If the values other than set value are
selected, “Error 6” will occur.
(5) When the homing command is normally performed, homing will start up based on the way set in “homing mode” of
“Homing parameters”.
(6) Refer to “9.1 Homing” for details on the home return operation.

Position
Chap.7 Commands
7.3.2 Setting the floating origin point (XPM_FLT)

Input
BASE : Setting up the numbers of the bases where modules are
XPM_FLT equipped
BOOL REQ DONE BOOL SLOT : Setting up the numbers of slots where modules are
USINT BASE STAT UINT equipped
USINT 1 ~ 6: 1 axis ~ 6 axis

AXIS
Output
STAT : Outputting error No. that occurred during executing
function blocks
(1) If the floating origin setting command is executed, the current position is changed to the origin address of the origin
return parameter, and the origin determination signal (bit) is turned on.
(2) Floating origin setting is set at the current position at the time the command is executed, different from homing, and
can be set only when the axis is not in the operation.
(3) In AXIS, you can set up the axis to command based on the below setting range. If the values other than set value are
selected, “error 6” will occur. Setting range: 1 ~ 6 (1 axis ~ 6 axis)

Position
Chap.7 Commands
7.3.3 Direct start (XPM_DST)

Input
modules are equipped
SLOT : Setting up the numbers of slots where modules
are equipped
XPM_DST AXIS : Specifying the axis to give commands
1 ~ 6: 1 ~ 6 axis
BOOL REQ DONE BOOL
ADDR : Setting up the target position address
USINT BASE STAT UINT -2147483648 ~ +2147483647
USINT SLOT SPEED : Setting up the target speed
USINT AXIS DWELL : Setting up dwell time
DINT ADDR 0 ~ 65535[ms]
UDINT SPEED M code : Setting up M code value
CTRL : Control mode setting
UINT DWELL
0: position control, 1: speed control,
UINT MCODE 2: Feed control, 3: the shortest distance control
USINT CTRL ABS/INC: Setting absolute coordinate/relative coordinate
BOOL ABS/INC 0: absolute coordinate, 1: relative coordinate
USINT ACC_SEL ACC_SEL: Setting up acceleration time No.
USINT DEC_SEL 0: acceleration time1, 1: acceleration time2
2: acceleration time3, 3: acceleration time4
DCC_SEL: Setting up deceleration time No.
0: deceleration time 1, 1: deceleration time 2
2: deceleration time 3, 3: deceleration time 4
Output
(1) The direct start command is designated to the axis specified as AXIS of the embedded positioning.
(2) It can be used when you want to operate directly the machine by setting the target position address, operating speed,
dwell time, M code No., control mode, coordinate, acceleration and deceleration time No. rather than depending on
operating data.
selected, “Error 6” will occur.
(4) In case of the values set for SPEED, CTRL, TIME_SEL exceed the setting range, “error11” will occur in STAT.

Position
Chap.7 Commands
7.3.4 Indirect start (XPM_IST)

Input
XPM_IST modules are equipped
USINT 1 ~ 6: 1 axis ~ 6 axis
AXIS
STEP : Step No. to operate
UINT STEP
0 ~ 400
Output
(1) The indirect start command is designated to the axis specified as AXIS of the embedded positioning.
(2) It can be used when you want to operate the machine by setting operation step No. of the axis that is set as operating
data.
(3) In AXIS, you can set up the axis to command and select one among 1 ~ 6. If the values other than set value are
selected, “error 6” will occur.
(4) In case the set value of STEP exceed the setting range (0 ~ 400), “error11” will occur in STAT.
(5) If you set 0 for STEP, the current step will be operated
(6) Depending on the operation pattern of the operated step (END, Keep, Continuous), several steps may be operated
by one indirect start command if the operation pattern is keep or continuous. Continuous operation is available in
case of the continuous parameter allow/disable is set to “allow”.
(7) The linear interpolation and a circular arc interpolation, helical interpolation is performed with indirect start command
by setting control mode of operating data.

Position
Chap.7 Commands
7.3.5 Simultaneous start (XPM_SST)

Input
XPM_SST BASE : Setting up the numbers of the bases where
BOOL REQ DONE BOOL modules are equipped
USINT BASE STAT UINT
are equipped
USINT SLOT SST_AXIS : Setting synchronous start axis
USINT SST_AXIS 0bit ~ 5bit: 1axis ~ 6axis
UINT A1_STEP Setting the bit for each axis
UINT A2_STEP A1_STEP : 1axis step No. to start up
A3_STEP : 3axis step No. to start up
UINT A4_STEP
UINT A5_STEP
UINT A7_STEP A7_STEP : N/A
UINT A8_STEP A8_STEP : N/A
Output
(1) The simultaneous start command is designated to the axis specified as AXIS of the embedded positioning.
(2) It can be used when you want to start the operation of more than 2 axis simultaneously.
(3) In A1_STEP ~ A6_STEP, set the number of step to be operated by simultaneous start of each axis from 1 axis to
6 axis.
(4) If the values other than set value are selected, “error 6” will occur. Set each bit by setting as below.
7bit 6bit 5bit 4bit 3bit 2bit 1bit 0bit
- - 6aixs 5axis 4axis 3axis 2axis 1axis

Position
Chap.7 Commands
7.3.6 Speed/position switching control (XPM_VTP)

Input
XPM_VTP modules are equipped
USINT AXIS 1 ~ 6: 1axis ~ 6axis
Output
(1) The speed/position switching control command is designated to the axis specified as AXIS of the embedded
positioning.
(2) When the speed/position control switching command is given to the specified axis where speed operation was
applied, the operation mode will be converted from speed control into position control and positioning operation will
run with the position value set when starting speed control.
selected, “error6” will occur. Setting range: 1 ~ 6(1axis ~ 6axis)

Position
Chap.7 Commands
7.3.7 Position specified Speed/Position Switching Control (XPM_VTPP)

Input
are equipped
AXIS : Specifying the axis to give commands
1 ~ 6: 1axis ~ 6axis
POS : Travel amount of position
-2,147,483,648 ~ 2,147,483,647
Output
(1) The position specified speed/position switching command is designated to the axis specified as AXIS of the
embedded positioning.
(2) When the position specified speed/position switching command is given to the specified axis where speed control
operation was applied, the operation mode will be converted from speed control into position control and then, positioning
operation will run as far as the position travel amount set in POS.

Position
Chap.7 Commands
7.3.8 Position/speed switching control (XPM_PTV)

Input
XPM_PTV modules are equipped
Output
(1) The position/speed switching command is designated to the axis specified as AXIS of the embedded positioning.
(2) When the position/speed control switching command is given to the axis where position control operation was applied
with the determined travel amount, the operation mode will be converted from position control into speed control.
It will run until the factors of stoppage such as deceleration stop, etc occur.
(3) When this command is executed, speed control will be applied with the undetermined origin.

Position
Chap.7 Commands
7.3.9 Deceleration Stop (XPM_STP)

Input
BASE : Setting up the numbers of the bases
where modules are equipped
XPM_STP SLOT : Setting up the numbers of slots where
REQ modules are equipped
BOOL DONE BOOL
USINT SLOT DEC_TIME : Deceleration down-time
USINT AXIS 0: Acceleration/deceleration time applied
UDINT DEC_TIME when operation starts
1 ~ 2147483647: 1 ~ 2147483647ms
Output
(1) The deceleration stop command is designated to the axis specified as AXIS of the embedded positioning.
(2) If the stop command is given during running by operating data, after deceleration stop, the operation restarts by the
start command.
(3) If deceleration stop command is executed in speed synchronization or position synchronization, CAM operation,
depending on the current operating control state, speed synchronization or position synchronization, CAM operation
will be finished.
(4) The deceleration stop command can be executed not only in acceleration and constant speed area but also
in deceleration area.
(5) The deceleration time that means the time from start to stop can be set in the range of 0 ~ 2,147,483,647ms.
If the value is set as 0, it will stop by the set deceleration time when operation starts.
(6) The deceleration time means the time required from the speed limit of the axis’s basic parameters to stop.

Position
Chap.7 Commands
7.3.10 Skip Operation (XPM_SKP)

Input
XPM_SKP where modules are equipped
BOOL REQ DONE BOOL SLOT : Setting up the numbers of slots where
USINT BASE STAT UINT modules are equipped
USINT AXIS
Output
STAT : Outputting error No. that occurred
during executing function blocks
(1) The skip operation command is designated to the axis specified as AXIS of the embedded positioning.
(2) It is used to move to the next step without running the operation step. In other words, stop and end the operation of
the step currently in operation, and continue the operation in the next step.
(3) Each time run this command, it will skip the current operating step and move to the next one.
(4) In AXIS, you can set up the axis to command based on the below setting range. If the values other than set value
are selected, “error 6” will occur. Setting range: 1 ~ 6(1axis ~ 6axis)

Position
Chap.7 Commands
7.3.11 Position synchronization (XPM_SSP)

Input
SLOT : Setting up the numbers of slots where
XPM_SSP AXIS : Specifying the axis to give commands
BOOL REQ DONE BOOL 1 ~ 6: 1axis ~ 6axis
USINT BASE STAT UINT STEP : Step No. to operate
USINT SLOT 0 ~ 400
USINT AXIS MST_AXIS : Setting position synchronization of the
major axis
UINT STEP
1 ~ 6: 1 ~ 6axis, 9~12: encoder 1~4
USINT MST_AXIS
MST_ADDR : Setting the position of the major axis to
DINT MST_ADDR perform position synchronization
-2,147,483,648 ∼ 2,147,483,647
Output
(1) The position synchronization command is designated to the axis specified as AXIS of the embedded
positioning.
(2) The axis that gives command is regarded as the minor axis. When the axis set as the major axis reaches
the established synchronized position, the operation step set by the command axis will run.
(4) In MST_AXIS, you can set up the major axis of position synchronization among the below range. If the values
other than set value are selected, “error 11” will occur. Setting range: 1 ~ 6(1axis ~ 6axis), 9 ~12(encoder 1 ~ 4)

Position
Chap.7 Commands
7.3.12 Speed synchronization (XPM_SSS)

Input
XPM_SSS SLOT : Setting up the numbers of slots where
USINT BASE STAT UINT AXIS : Specifying the axis to give commands
USINT SLOT 1 ~ 6: 1axis ~ 6axis
MST_AXIS : Setting the major axis for speed
USINT AXIS synchronization
USINT MST_AXIS 1 ~ 6: 1axis ~ 6axis, 9 ~ 12: encoder 1 ~ 4
UINT MST_RAT MST_RAT : Setting the major axis’s speed ratio
-32768 ~ 32767
UINT SLV_RAT
SLV_RAT : Setting the minor axis’s speed ratio
-32768 ~ 32767
Output
(1) The speed synchronization command is designated to the axis specified as AXIS of the embedded positioning.
(2) It is used to control the operating speed between two axes at the set ratio.
(3) There is no rule about the size between the major axis’s speed ratio and the minor axis’s speed ratio. In other
words, if the major axis’s speed ratio is bigger than the minor axis’s speed ratio, the major axis moves faster than
the minor axis; if the minor axis’s speed ratio is bigger than the major axis’s speed ratio, the minor axis moves faster
than the major axis.
selected, “error 6” will occur. Setting range: 1 ~ 6(1axis ~ 5axis)
(5) In MST_AXIS, you can set up the major axis of speed synchronization among the below range. If the values other
than set value are selected, “error 11” will occur. Setting range: 1 ~ 6(1axis ~ 6axis), 9~12(encoder 1~4)
(6) Minor axis’s operating direction runs in the same direction of major axis in case of the speed synchronization ratio
(minor axis ratio/major axis ratio) is a positive number, and runs in the opposite direction of the major axis in case of
the speed synchronization ratio is a negative number. For example, if the major ratio is set as 3 and the minor ratio is
set as 2, while major axis moving 3000, minor axis will moving 2000.

Position
Chap.7 Commands
7.3.13 Position Assigned Speed Synchronization (XPM_SSSP)

Input
XPM_SSSP SLOT : Setting up the numbers of slots where modules
are equipped
BOOL REQ DONE BOOL
USINT SLOT MST_AXIS : Setting the major axis for speed
USINT AXIS synchronization
USINT MST_AXIS 1 ~ 6: 1axis ~ 6axis, 9 ~ 12: encoder 1~ 4
MST_RAT : Setting the major axis’s speed ratio
UINT MST_RAT
-32768 ~ 32767
UINT SLV_RAT SLV_RAT : Setting the minor axis’s speed ratio
DINT POS -32768 ~ 32767
POS : Target position
-2,147,483,648 ~ 2,147,483,647
Output
(1) The position assigned speed synchronization command is designated to the axis specified as AXIS of
the embedded positioning.
(2) It is used to control the operating speed between two axes at the set ratio. If the minor axis’s position reaches
the point set by POS, it will stop after finishing speed synchronization.
(3) There is no rule about the size between the major axis’s speed ratio and the minor axis’s speed ratio.
Namely, if the major axis’s speed ratio is bigger than the minor axis’s speed ratio, the major axis moves faster than
the minor axis; if the minor axis’s speed ratio is bigger than the major axis’s speed ratio, the minor axis moves faster
than the major axis.
(5) In MST_AXIS, you can set up the major axis of speed synchronization among the below range. If the values other
than set value are selected, “error 11” will occur. Setting range: 1 ~ 6(1axis ~ 6axis), 9 ~ 12(encoder 1 ~ 4)
(6) Minor axis’s operating direction runs in the same direction of major axis in case of the speed synchronization ratio
(minor axis ratio/major axis ratio) is a positive number, and runs in the opposite direction of the major axis in case of
the speed synchronization ratio is a negative number. For example, if the major ratio is set as 3, the minor ratio is
set as 2, target position is set as 1,000,000, while major axis moving 3000, minor axis will moving 2000. Likewise,
it will stop when the position of minor axis is 1,000,000.

Position
Chap.7 Commands
7.3.14 Position override (XPM_POR)

Input
XPM_POR SLOT : Setting up the numbers of slots where modules
BOOL REQ DONE BOOL are equipped
USINT AXIS POR_ADDR : Setting the new target position
DINT POR_ADDR -2,147,483,648 ∼ 2,147,483,647
Output
(1) The position override command is designated to the axis specified as AXIS of the embedded positioning.
(2) It is used to change the target position while the command axis is running.
(3) If you perform position override after passing the point for position override, it will stop at the current position and then,
changes its direction and moves to the position set in POR_ADDR.
(4) In POR_ADDR, you can set up the target position to change.
(5) The value set for the position override is absolute coordinate position.

Position
Chap.7 Commands
7.3.15 Speed override (XPM_SOR)

Input
XPM_SOR
BOOL REQ DONE BOOL
UDINT SOR_SPD SOR_SPD :Setting new operating speed value
Output
(1) The speed override command is designated to the axis specified as AXIS of the embedded positioning.
(2) It is used to change the operating speed while the command axis is running.
(3) SOR_SPD can be set as “%” or “speed value (unit/time)” based on the values set in “speed override” of the
command parameters.
• In case the unit of speed override value is %, the setting area is 1 ~ 65,535 that indicates 0.01% ~ 655.35%.
• In case the unit of speed override value is speed value, the setting area is 1 ~ speed limit and at this time, the speed
limit is the vale set in “speed limit” of basic parameters. In addition, the unit of speed override value follows the axis’s
unit.

Position
Chap.7 Commands
7.3.16 Position Assigned Speed Override (XPM_PSO)

Input
XPM_PSO where modules are equipped
REQ SLOT : Setting up the numbers of slots where
BOOL DONE BOOL
USINT AXIS PSO_ADDR : Position to change speed
DINT PSO_ADDR
-2,147,483,648 ∼ 2,147,483,647
UDINT PSO_SPD
PSO_SPD : Setting the new operating speed value
Output
(1) The position assigned speed override command is designated to the axis specified as AXIS of the embedded
positioning.
(2) It is used to change the operating speed after reaching a certain position in the state that the command axis is running.
(3) PSO_SPD can be set as “%” or “speed value (unit/time)” based on the values set in “speed override” of the
command parameters.
• In case the unit of speed override value is %, the setting area is 1 ~ 65,535 that indicates 0.01% ~ 655.35%.
• In case the unit of speed override value is speed value, the setting area is 1 ~ speed limit and at this time, the speed
limit is the vale set in “speed limit” of basic parameters. In addition, the unit of speed override value follows the axis’s
unit.

Position
Chap.7 Commands
7.3.17 Continuous operation (XPM_NMV)

Input
XPM_NMV where modules are equipped
USINT AXIS
Output
(1) The command for continuous operation is sent to the axis specified as AXIS of the embedded positioning.
(2) It is used to move to the next operating step without stopping the command axis in the currently operating step.
(3) When the continuous operation command is executed, the currently operating step No. is changed into the next step
No. and position operation will proceed with the next step’s speed and target position. The connection with the next
step is performed by the continuous operation pattern.
(4) The continuous operation command changes the operation pattern of the currently running step only and does not
change the operation data.

Position
Chap.7 Commands
7.3.18 Inching Operation (XPM_INC)

Input
XPM_INC
are equipped
BOOL REQ DONE BOOL AXIS : Specifying the axis to give commands
USINT BASE STAT UINT 1 ~ 6: 1axis ~ 6axis
USINT SLOT INCH_VAL: Amount of travel to move through inching
USINT AXIS operation
DINT INCH_VAL
-2,147,483,648 ∼ 2,147,483,647
Output
(1) The inching operation command is designated to the axis specified as AXIS of the embedded positioning.
(2) Inching operation is a kind of manual operations. It is used to process minute movements as quantitative operation.
(3) The speed of inching operation is set in manual operation parameters.

Position
Chap.7 Commands
7.3.19 Return to the position of pre-manual operation (XPM_RTP)

Input
XPM_RTP
BOOL REQ DONE BOOL
Output
(1) The command for returning to the position of pre-manual operation is designated to the axis specified as AXIS of
the embedded positioning.
(2) When the position is changed by manual operation after positioning, the command can be used to return to
the position of pre-manual operation.

Position
Chap.7 Commands
7.3.20 Start step change (XPM_SNS)

Input
XPM_SNS modules are equipped
USINT AXIS
STEP : Setting the operation step No. to run
UINT STEP
1 ~ 400
Output
(1) The change start step command is designated to the axis specified as AXIS of the embedded positioning.
(2) It is used to change the operation step of the command axis.
selected, “error 6” will occur. Setting range:1 ~ 6(1axis ~ 6axis)
(4) In STEP, you can set up the step No. to start the repetitive operation. The range of set values is 1 ~ 400 and if the
values other than set value are selected, “error 11” will occur.

Position
Chap.7 Commands
7.3.21 Repeat operation step no. change (XPM_SRS)

Input
XPM_SRS
BOOL REQ DONE BOOL
UINT STEP STEP : Setting the repetitive step No. to change
1 ~ 400
Output
(1) The repeat operation step no. change command is designated to the axis specified as AXIS of the embedded
positioning.
(2) The command is used to start the operation in a certain operating step by specifying the start step No. of repetitive
operation when running the repetitive operation that the command is given during running with the operation data, it
returns to the repetitive operation step.
(4) In STEP, you can set up the step no. to start the repetitive operation. The range of set values is 1 ~ 400 and if the
values other than set value are selected, “error 11” will occur.

Position
Chap.7 Commands
6.10.2 M Code Release (XPM_MOF)

Input
XPM_MOF modules are equipped
USINT AXIS
Output
(1) The command for clearing M code is sent to the axis specified as AXIS of the embedded positioning.
(2) In case the M code is set as ‘With’ or ‘After Mode’ in each axis’s parameters, when the command axis’s M code signal
is On, it can be used to turn Off this signal. Namely, it changes the M code signal into Off and M code No. into On.
(4) It can be performed while operating,

Position
Chap.7 Commands
6.8.11 Current position change (XPM_PRS)

Input
XPM_PRS
BOOL REQ DONE BOOL
USINT AXIS PRS_ADDR : Setting the current position value to change
DINT PRS_ADDR
-2,147,483,648 ∼ 2,147,483,647
Output
function blocks
(1) The current position change command is designated to the axis specified as AXIS of the embedded positioning.
(2) The command is used to change the current position into an arbitrary position. If it is executed with the undetermined
origin, the signal for determining the origin will be On and the current position will be changed into the set value
(PRS_ADDR).

Position
Chap.7 Commands
7.3.24 Encoder value preset (XPM_EPREB)

Input
XPM_EPREB SLOT : Setting up the numbers of slots where modules
USINT AXIS ENC : Encoder number
USINT ENC 0 ~ 3: encoder 1 ~ encoder 4
DINT EPRE_VAL EPRE_VAL : Set encoder preset value
(encoder min. ~ encoder max. -1)
Output
function blocks
(1) The encoder value preset command is designated to the axis specified as AXIS of the embedded positioning.
(2) The command is used to change the current value of the encoder to the setting value of EPRE_VAL
(3) The input range of EPRE_VAL is “Minimum value of Ring-count ~ Maximum value of Ring-count -1” if the embedded
Positioning set as ring-count.
(a) The input range of the encoder position value is from the ring-count minimum value ~ ring-count maximum
value -1. If the values other than set value are selected, error code 535 will occur and preset is not performed.
(b) Set the encoder (OP3) value between 0 ~ 3. If the values other than set value are selected, “error 11” will occur
and preset is not performed.
(c) If the major axis to be changed the position is operating, error code 532 will occur, and the preset is not performed.
(d) The encoder value preset command has no area to select the command axis. If an error occurs, it is displayed on
the axis 1 error code.
(e) To operate the encoder value preset command, the high-speed count channel mapped with the encoder must to
be enabled

Position
Chap.7 Commands
7.3.25 Teaching Array (XPM_ATEA)

Input
BASE : Setting up the numbers of the bases where modules
are equipped
SLOT : Setting up the numbers of slots where modules are
equipped
XPM_ATEA AXIS : Specifying the axis to give commands
BOOL REQ DONE BOOL 1 ~ 6: 1axis ~ 6axis
USINT BASE STAT UINT STEP : Setting the step No. to teach
USINT SLOT 0 ~ 400
USINT AXIS RAM/ROM : Selecting RAM teaching and ROM teaching type
UINT STEP 0 : RAM teaching, 1 : ROM teaching
BOOL RAM/ROM POS/SPD : Selecting position teaching and speed teaching
BOOL POS/SPD type
USINT TEA_CNT 0 : position teaching, 1 : speed teaching
DINT[16] TEA_VAL TEA_CNT : Setting the number of teaching data
1 ~ 16
TEA_VAL : Setting teaching values
Output
function blocks
(1) The teaching array command is designated to the axis specified as AXIS of the embedded positioning.
(2) The speed teaching can be used when a user wants to apply the arbitrary speed value to a specific step’s operating
data; the position teaching can be used when a user wants to set the arbitrary position value for a specific step’s
operating data.
(3) It is used when you want to change the target position or speed values up to 16EA at once by using the multiple
teaching function blocks.
selected, “error6” will occur.
(5) The teaching command can be executed only when all axis are in a stopped state.
(6) In STEP, you can set the step No. of the operating data to teach and select one among 0 ~ 400. If the values other
than set value are selected, “error 11” will occur.
(7) In TEA_CNT, you can set the number of teaching data up to 16EA. If the values other than set value are selected,
“error 11” will occur.
(8) The operating data that is set as “0” in RAM/ROM and changed by teaching commands is valid only while the power
is On. If you want to maintain the changed operating data even while the power is Off, set the RAM/ROM as “1” and
perform the teaching commands or after teaching operating data, save the changed parameter value to the Flash by
using the commands for saving parameters/operating data(XPM_WRT).
(9) If you change the data through ROM teaching, it will be saved to the FLASH together with the previous operating data
changed by RAM teaching including the operating data changed by the current commands. However, for different
axis other than the relevant ones, the previous data will not be saved to the FLASH.

Position
Chap.7 Commands
7.3.26 Basic parameter teaching (XPM_SBP)

Input
XPM_SBP SLOT : Setting up the numbers of slots where modules
1 ~ 6: 1 ~ 6axis
USINT SLOT
BP_VAL : Basic parameter values to change
USINT AXIS
BP_NO : Basic parameter items No. to change
UDINT BP_VAL
RAM/ROM : Method on how to save parameters
USINT BP_NO
0: SAVING TO RAM
BOOL RAM/ROM
1: SAVING TO ROM
Output
(1) The basic parameter teaching command is designated to the specified axis in AXIS of the embedded positioning.
(2) The parameter value that is set as “0” in RAM/ROM and changed by the basic parameter teaching commands is
valid only while the power is On. If you want to maintain the changed parameter value even while the power is Off, set
the value as “1” in RAM/ROM and perform the basic parameter teaching commands or after teaching basic
parameters, save the changed parameter value to the Flash by using the commands for saving parameters/operating
data (XPM_WRT).
(4) The command for setting basic parameters can be executed only when all axis are in a stopped state.
(5) If you change the data through ROM teaching, it will be saved to the FLASH together with the previous parameters
changed by RAM teaching including the parameters changed by the current commands. However, for different axis
other than the relevant ones, the previous data will not be saved to the FLASH.
(6) You can set up the values for basic parameter items No. as below.
Set value Item Setting range
㎜ : 0 ∼ 2,147,483,647 [X10-2㎜/minute]
Inch : 0 ∼ 2,147,483,647 [X10-3Inch/minute]

1 Speed limit
degree : 0 ∼ 2,147,483,647 [X10-3 degree/minute]
pulse : 0 ∼ 2,000,000 [pulse/second]
2 Acceleration time 1
0 ~ 2,147,483,647 [ms]

Position
Chap.7 Commands
6 Deceleration time 1
0 ~ 2,147,483,647 [ms]
10 Abrupt stop deceleration time 0 ~ 2,147,483,647 [ms]
The number of divided output
11
pulses per revolution 1 ~ 200,000,000
12 Travel distance per revolution
13 Unit 0:Pulse, 1:mm, 2:Inch, 3:Degree
14 Unit double precision 0: x 1, 1: x 10, 2: x 100, 3: x 1000
15 Speed command unit 0: unit/time, 1: rpm
16 Bias speed 1 ~ speed limit
17 Pulse output enable 0: disable, 1: enable

Position
Chap.7 Commands
7.3.27 Extended parameter teaching (XPM_SEP)

Input
XPM_SEP SLOT : Setting up the numbers of slots where modules
are equipped
BOOL REQ DONE BOOL
USINT SLOT EP_VAL : Extended parameter values to change
USINT AXIS EP_NO : Extended parameter items No. to change
DINT EP_VAL RAM/ROM : Method on how to save parameters
USINT 0: SAVING TO RAM
EP_NO
BOOL RAM/ROM 1: SAVING TO ROM
Output
(1) The extended parameter teaching is sent to the axis specified as AXIS of the embedded positioning.
(2) The parameter value that is set as “0” in RAM/ROM and changed by the extended parameter setting commands is
the value as “1” in RAM/ROM and perform the extended parameter teaching commands or after teaching extended
parameters, save the changed parameter value to the Flash by using the commands for saving parameters/operating
data(XPM_WRT).
(4) The command for setting extended parameters can be executed only when all axis are in a stopped state.
(5) You can set up the values for extended parameter items No. as below.
Set Value Item Setting range
1 Soft upper limit ㎜ :-2147483648 ~ 2147483647[X10-4㎜]

Inch:-2147483648 ~ 2147483647[X10-5Inch]
degree:-2147483648 ~ 2147483647[X10-5degree]
2 Soft lower limit pulse:-2147483648 ~ 2147483647[pulse]
mm: 0 ~ 65,535[X10-4㎜]
inch: 0 ~ 65,535[X10-5Inch]
3 Compensation amount of backlash
degree: 0 ~ 65,535[X10-5degree]
pulse: 0 ~ 65,535[pulse]
4 Completion time of positioning 0 ~ 65,535[ms]
5 S-curve ratio 1 ~ 100
mm: 0 ~ 2147483647[X10-4㎜]
2 axis linear interpolated continuous
Inch: 0 ~ 2147483647[X10-5Inch]
6 operation with insertion position of a
degree: 0 ~ 2147483647[X10-5degree]
circular arc
pulse: 0 ~ 2147483647[pulse]

Position
Chap.7 Commands
Set Value Item Setting range

7 Acceleration/deceleration pattern 0: Trapezoidal operation, 1: S-curve operation
8 M code mode 0: None, 1: With, 2: After
Detection of upper / lower limit during
9 0: No detected, 1: Detected
speed control
Interpolated continuous operation
10 0: Passing the target position , 1: Passing the vicinity
positioning type
2 axis linear interpolated continuous 0: No insertion of a circular arc, 1: Continuous operation with
11
operation with insertion of a circular arc insertion of a circular arc
12 Positioning speed override coordinate 0: Absolute coordinate, 1: Relative coordinate
13 Pulse output direction 0: Forward, 1:Reverse
mm: 1 ~ 2147483647[X10-4㎜]
Inch: 1 ~ 2147483647[X10-5Inch]
14 Position repeating Infinite length
degree: 1 ~ 2147483647[X10-5degree]
pulse: 1 ~ 2147483647[pulse]
15 Repetition of Infinite length 0: Prohibited, 1: Allowed
16 Speed/position switching coordinate 0: Relative coordinate, 1: Relative coordinate
17 Selection of interpolation speed 0: Major axis speed 1: Resultant speed

Position
Chap.7 Commands
7.3.28 Homing parameters teaching (XPM_SHP)

Input
XPM_SHP SLOT : Setting up the numbers of slots where modules
(1 ~ 6: 1axis ~ 6axis)
USINT SLOT
HP_VAL : Homing parameter values to change
USINT AXIS
HP_NO : Items No. of homing parameters to change
DINT HP_VAL
RAM/ROM : Method on how to save parameters
USINT HP_NO
(0: RAM, 1: ROM)
BOOL RAM/ROM
Output
(1) The homing parameter teaching command is designated to the axis specified as AXIS of the embedded positioning.
(2) The parameter value that is set as “0” in RAM/ROM and changed by the homing parameter teaching commands is
the RAM/ROM as “1” and perform the homing parameter teaching commands or after teaching homing parameters,
save the changed parameter value to the Flash by using the commands for saving parameters/operating
data(XPM_WRT).
(4) The command for setting homing parameters can be executed only when all axis are in a stopped state.
(5) You can set up the values for homing parameter items No. as below.
㎜ : -2147483648 ∼ 2147483647 [X10-4㎜]
Inch : -2147483648 ∼ 2147483647 [X10-5Inch]

1 Home position
degree : -2147483648 ∼ 2147483647 [X10-5degree]
pulse : -2147483648 ∼ 2147483647 [pulse]
2 Homing high speed ㎜ : 1 ∼ 2,147,483,647 [X10-2㎜/minute]
3 Homing low speed degree : 1 ∼ 2,147,483,647 [X10-3 degree/minute]
4 Homing acceleration 0 ~ 2,147,483,647 [ms]

Position
Chap.7 Commands
time
Homing deceleration
5
time
6 Homing dwell time 0 ~ 65,535[ms]
㎜ : -2147483648 ∼ 2147483647 [X10-3㎜]
Compensation amount Inch : -2147483648 ∼ 2147483647 [X10-5Inch]
7
of origin degree : -2147483648 ∼ 2147483647 [X10-5degree]
pulse : -2147483648 ∼ 2147483647 [pulse]
8 Homing restart-up time 0 ~ 65,535[ms]
0:Approximate origin/origin(Off), 1:Approximate origin/origin(On),
9 Homing mode 2:Upper·lower limit/origin,
3:Approximate origin, 4:High speed origin, 5:Upper·lower limit, 6:Origin
10 Homing direction 0:Forward, 1:Reverse
7.3.29 Manual operation parameters teaching(XPM_SMP)

Position
Chap.7 Commands

Input
XPM_SMP modules are equipped
USINT SLOT MP_VAL : Manual operation parameter values to
change
USINT AXIS
MP_NO : Manual operation parameter items No. to
UDINT MP_VAL change
USINT MP_NO RAM/ROM : Method on how to save parameters
BOOL RAM/ROM 0: SAVING TO RAM
1: SAVING TO ROM
Output
(1) The manual operation parameters teaching command is designated to the axis specified as AXIS of the embedded
positioning.
(2) The parameter value that is set as “0” in RAM/ROM and changed by the commands for teaching manual operation
parameters is valid only while the power is On. If you want to maintain the changed parameter value even while the
power is Off, set the RAM/ROM as “1” and perform the commands for teaching manual operation parameters or after
setting manual operation parameters, save the changed parameter value to the Flash by using the commands for
saving parameters/operating data(XPM_WRT).
(4) The command for setting manual operation parameters can be executed only when all axis are in a stopped state.
(5) You can set up the values for manual operation parameter items No. as below.

㎜ : 1 ∼ 2,147,483,647 [X10-2㎜/minute]
1 JOG high speed
degree : 1 ∼ 2,147,483,647 [X10-3 degree/minute]
2 JOG low speed
3 JOG acceleration time
0 ~ 2,147,483,647 [ms]
4 JOG deceleration time
㎜ : 1 ∼ 65,535[X10-2㎜/minute]
Inch : 1 ∼ 65,535[X10-3Inch/minute]
5 Inchingspeed
degree : 1 ∼ 65,535[X10-3 degree/minute]
pulse : 1 ∼ 65,535[pulse/second]

Position
Chap.7 Commands
7.3.30 I/O signal parameter teaching (XPM_SIP)

Input
XPM_SIP are equipped
USINT SLOT IP_VAL : External signal parameter value to change
USINT AXIS Set the signal allocated for each Bit
UINT IP_VAL RAM/ROM : Method on how to save parameters
0: SAVING TO RAM
BOOL RAM/ROM
1: SAVING TO ROM
Output
(1) The I/O signal parameter teaching command is designated to the axis specified as AXIS of the embedded
positioning.
(2) The parameter value that is set as “0” in RAM/ROM and changed by the commands for teaching external signal
power is Off, set the RAM/ROM as “1” and perform the commands for teaching external signal parameters or after
setting external signal parameters, save the changed parameter value to the Flash by using the commands for
saving parameters/operating data(XPM_WRT).
(4) The command for setting input signal parameters can be executed only when all axis are in a stopped state.
(5) The set value of each external signal setting area indicates the below. 0: A contact, 1: B contact
(6) The external signals allocated for each Bit of I/O signal parameters to change are as follows. If bit set value is 3 (b11),
the signal setting will ignored and maintain previous set value.
Bit Signal Setting Range

0~1 Upper limit signal 0: not used, 1: A contact, 2: B contact, C: maintain previous value
2~3 Lower limit signal 0: not used, 1: A contact, 2: B contact, C: maintain previous value
4~5 Approximate origin signal 0: not used, 1: A contact, 2: B contact, C: maintain previous value
6~7 Origin signal 0: not used, 1: A contact, 2: B contact, C: maintain previous value
8~9 Deviation clear signal 0: not used, 1: A contact, 2: B contact, C: maintain previous value
10 ~ 15 N/A -

Position
Chap.7 Commands
Note
To use I/O signal of the MLU-H embedded positioning, must mapped I, Q device.
I, Q device set as %IX0.0.0 or QX0.0.0 for initial value. If you don’t mapping I, Q device on I/O signal and enable I/O
signal to XPM_SIP, it is applied based on the initial setting value.
For proper operation, mapping the I, Q device on each I/O signal using SoftMaster before setting I/O signal parameter
to XPM_SIP.

Position
Chap.7 Commands
7.3.31 Common parameters teaching (XPM_SCP)

Input
XPM_SCP SLOT : Setting up the numbers of slots where modules
USINT SLOT
CP_VAL : Values of common parameters to change
USINT AXIS CP_NO : Common parameter items No. to change
DINT CP_VAL RAM/ROM : Method on how to save parameters
USINT CP_NO 0: SAVING TO RAM
BOOL RAM/ROM 1: SAVING TO ROM
Output
(1) The common parameter teaching command is designated to the axis specified as AXIS of the embedded positioning.
(2) The parameter value that is set as “0” in RAM/ROM and changed by the commands for teaching common
power is Off, set the RAM/ROM as “1” and perform the commands for teaching common parameters or after
teaching common parameters, save the changed parameter value to the Flash by using the commands for saving
parameters/operating data(XPM_WRT).
(4) You can set up the values for common parameter items No. as below.

1 Speed override mode 0 : Designation of %, 1 : Designation of speed
2 Pulse output level 0 : Low Active, 1 : High Active
3 Control cycle 1~10(ms), maintain previous value when setting other value
(5) If you change the data through ROM teaching, the operation data that has been changed to RAM teaching previously
including the operation data changed by the current command is also permanently saved.
(6) The common parameter setting command can be executed when all axes are stopped.

Position
Chap.7 Commands
7.3.32 Operation data teaching (XPM_SMD)

Input
XPM_SMD SLOT : Setting up the numbers of slots where modules
USINT AXIS STEP : Operation step No. to change
USINT STEP 0 ~ 400
DINT MD_VAL MD_VAL : Operating data value to change
USINT MD_NO MD_NO : Operating data items No. to change
BOOL RAM/ROM RAM/ROM : Method on how to save parameters
0: SAVING TO RAM, 1: SAVING TO ROM
Output
(1) The operation data teaching command is designated to the axis specified as AXIS of the embedded positioning.
(2) The operating data that is set as “0” in RAM/ROM and changed by the commands for teaching operating data is valid
only while the power is On. If you want to maintain the changed operating data even while the power is Off, set the
RAM/ROM as “1” and perform the commands for teaching operating data or after teaching operating data, save the
changed parameter value to the Flash by using the commands for saving parameters/operating data(XPM_WRT).
(4) The operation data teaching command can be executed while the axis is running, but for the step in operation,
it operates according to the setting value before teaching. When the operation is started again after the end of
operation, the operation is performed according to the setting value changed to teaching.
(5) You can set up the values for operation data teaching items No. as below.
Set value Item Set Range

㎜ : -2147483648 ∼ 2147483647 [X10-4㎜]
Inch : -2147483648 ∼ 2147483647 [X10-5Inch]
1 Set Position
degree : -2147483648 ∼ 2147483647 [X10-5degree]
pulse : -2147483648 ∼ 2147483647 [pulse]
Circular interpolation Within possible position range of the circular interpolation
2
auxiliary position setting
㎜ : 0 ∼ 2,147,483,647 [X10-2㎜/min]
Inch : 0 ∼ 2,147,483,647 [X10-3Inch/min]
3 Operating speed
degree : 0 ∼ 2,147,483,647 [X10-3 degree/min]
pulse : 0 ∼ 2,000,000 [pulse/sec]
4 Dwell time 0 ~ 65,535[ms]
5 Mcode No. 0 ~ 65,535

Position
Chap.7 Commands
Bit unit setting

6 Minor axis setting Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1
7 Helical interpolation axis 0, axis1 ~ axis6 (0: General circular interpolation)
Circular interpolation
8 0~65,535
turns
9 Coordinate 0: absolute, 1: relative
0:single-axis position control, 1:single axis speed control,
10 Control method 2:single- axis Feed control,
3:linear interpolation, 4:circular interpolation
11 Operating method 0:single, 1:repeat
12 Operating pattern 0:end, 1:keep, 2:continue
13 Size of circular arc 0:circular arc<180 1:circular arc>=180
14 Acc. No 0~3
15 Dec. No. 0~3
16 0:middle point, 1:center point, 2:radius
mode
Direction of circular
17 0:CW, 1:CCW
interpolation
(6) If you change the data through ROM teaching, the operation data that has been changed to RAM teaching previously
including the operation data changed by the current command is also permanently saved.

Position
Chap.7 Commands
7.3.33 Read Variable Data (XPM_VRD)

Input
XPM_VRD
BASE STAT USINT 1 ~ 6: 1axis ~ 6axis
USINT
S_ADDR : Start address of the module internal
USINT SLOT VAR UINT[128] memory of the data to read
USINT AXIS 0 ~ 143367
OFFSET : Offset of between data blocks to read
UDINT S_ADDR 0 ~ 143367
UDINT OFFSET SIZE : Size of data blocks to read
1 ~ 128
UINT SIZE
CNT : The number of data blocks to read
UNIT CNT 1 ~ 128
Output
VAR : PLC device where the read data is stored.
(1) The read variable data command is designated to the positioning module to read directly parameters, operating data,
CAM data.
(2) It is possible to read the desired data by specifying parameters and operating data, CAM data’s module internal
memory address directly.
(3) Among parameters, operating data, CAM data of the embedded positioning, the command is to read as much data
as the “SIZE” in WORDs from the position set as “S_ADDR” in positioning module internal memory to the specified
device of “VAR”. In case “CNT” is more than 2, it reads the blocks one by one, which are as distant as “OFFSET” from
the “S_ADDR” position as many times as “CNT”-1 and saves them to the specified device of “VAR”.
(4) The maximum data size(SIZE x CNT) that can be read with a command is 128 WORD.
(5) The command for “Read Variable Data” can run even during operation.
(7) In case the size(SIZE x CNT) of the data to read is 0 or exceeds 128 WORD, error “11” will occur in STAT.
(8) Although reading variable data is executed for different axis, it can run only once in one scan. If you run reading
variable data more than twice in one scan, error code(811) will occur and the remaining operations except the first
reading variable data will not work.

Position
Chap.7 Commands
7.3.34 Write variable data (XPM_VWR)

Input
XPM_VWR SLOT : Setting up the numbers of slots where modules
USINT BASE STAT USINT AXIS : Specifying the axis to give commands
USINT SLOT
VAR : PLC device where the data to write is saved
USINT AXIS T_ADDR : Start address of the module internal
UINT[128] VAR memory of the data to write
UDINT T_ADDR 0 ~ 143367
UDINT OFFSET OFFSET : Offset of between data blocks to write
0 ~ 65535
UINT SIZE SIZE : Size of the data blocks to write
UINT CNT 1 ~ 128
CNT : Number of data blocks to write
1 ~ 128
Output
(1) The write variable data command is designated to the positioning module to write directly parameters, operating data,
CAM data.
(2) It is possible to write the desired data by specifying parameters and operating data, CAM data’s module internal
memory address directly.
(3) Among parameters, operating data, CAM data of the embedded positioning internal memory, the command is to write
as much data as the “SIZE” in WORDs from the “T_ADDR”position of the PLC program to the specified device of
“VAR”. In case the number of blocks, “CNT” is more than 2, it writes the data one by one to the blocks which are as
distant as “OFFSET” from the ones located in “T_ADDR” position as many times as “CNT”-1.
(4) The maximum data size(SIZE x CNT) that can be written with a command is 128 WORD.
(5) The command for “Writing Variable Data” cannot run during operation.
(6) In AXIS, you can set up the axis to command and select one among 1~6. Establishing the values other than set ones
will lead to “error6”.
(7) In case the size(SIZE x CNT) of the data to read is 0 or exceeds 128 WORD, error “11” will occur in STAT.
(8) If the number of blocks(CNT) is more than 2 and block offset(OFFSET) is smaller than the block size(CNT), the
module internal memory blocks where the data will be written are overlapping so error “11” will occur in STAT.
(9) When executing XPM_WRT, compatibility of data should be checked for all access areas. Especially, the user CAM
area is set as 0 initially but if you input 0 again through XPM_WRT, data compatibility error will occur(error code
704~708). For data setting of the user CAM area, refer to 9.4.4 User CAM Operation.

Position
Chap.7 Commands
7.3.35 Emergency Stop (XPM_EMG)

Input
XPM_EMG where modules are equipped
BOOL REQ DONE BOOL SLOT : Setting up the numbers of slots where
USINT BASE STAT UINT modules are equipped
USINT SLOT
USINT AXIS
Output
(1) The emergency stop command is designated to the axis specified as AXIS of the embedded positioning.
(2) It is used when you have to stop the operation immediately due to emergency. The axis where this command is
applied will be in a stopped state.
(3) During Emergency Stop, the deceleration time is the value set in “Deceleration time at abrupt stop” of the basic
parameters of each axis.

Position
Chap.7 Commands
7.3.36 Error reset (XPM_RST)

Input
XPM_RST modules are equipped
BOOL REQ DONE BOOL
are equipped
USINT AXIS SEL : Selecting axis error/common error
BOOL SEL 0: axis error (Set as 0 all the time)
Output
(1) The error reset command is sent to the axis specified as AXIS of the embedded positioning.
(3) When parameters exceed the setting range or errors occur during operation, the command is used to reset the errors.
(4) In SEL, you can select the error type to reset. If the value is “0”, the error occurred in the command axis of each axis will be
reset. In XEM embedded positioning, the value should be set as “0” all the time. If the value is “1”, “error 11” will occur.

Position
Chap.7 Commands
7.3.37 Error history reset (XPM_HRST)

Input
XPM_HRST BASE : Setting up the numbers of the bases where
BOOL REQ DONE BOOL
are equipped
Output
(1) The error history reset command is designated to the axis specified as AXIS of the embedded positioning.
(3) When parameters exceed the setting range or errors occur during operation, it saves the errors to the module up to
10. The command is used to reset the error history.

Position
Chap.7 Commands
7.3.38 Point operation (XPM_PST)

Input
XPM_PST SLOT : Setting up the numbers of slots where modules
USINT SLOT
PST_CMT : Setting the number of point operation steps
USINT AXIS
1 ~ 20
USINT PST_CNT
PST_VAL : Setting point operation step No.
UINT[20] PST_VAL
0 ~ 400
Output
(1) The start-up command is sent to the axis specified as AXIS of the embedded positioning.
(3) It can be used to operate continuously the machine without a stop by setting operation steps up to 20 during
PTP(Point to Point) operation with only one command. If PST_CNT or PST_VAL has the values other than set
ones, “error6” will occur.
(4) Point operation allows the maximum of 20 point steps. Accordingly, the variables of UNIT array type with 20 elements
can be used for PST_VAL.

Position
Chap.7 Commands
7.3.39 Parameter/operation data save (XPM_WRT)

Input
XPM_WRT SLOT : Setting up the numbers of slots where modules are
BOOL REQ DONE BOOL equipped
USINT AXIS WRT_AXIS : Setting axis to save
USINT WRT_AXIS (by setting each bit)
0bit ~ 5bit: 1axis ~ 6axis
Output
function blocks
(1) The parameter/operation data save command is designated to the axis specified as AXIS of the embedded
positioning.
(3) After function blocks are normally performed, it saves the current parameters and operating data of the axis set in
WRT_AXIS to the Flash so that the data can be maintained even when the power is off.
(4) For setting WRT_AXIS, select the Bit corresponding to each axis.
15 ~ 4 Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0Bit

N/A 6axis 5axis 4axis 3axis 2axis 1axis
For example, to select 2 axis and 3 axis, you can set them as “16#06”.
(5) If you modify the data with the command for writing variable data (XPM_VWR), the CAM data that changed during
XPM_WRT will be saved to the Flash.
(6) The parameter/operation data save command is cannot be executed when the axis is running.

Position
Chap.7 Commands
7.3.40 Operation Information Read (XPM_CRD)

Input
XPM_CRD SLOT : Setting up the numbers of slots where
BASE AXIS : Specifying the axis to give commands
USINT STAT UINT
USINT SLOT ERR UINT
Output
USINT AXIS CERR UINT
CA DINT
CV DINT
SA DINT
ERR :Displaying axis error
SV DINT
CERR : Displaying common error
TRQ INT
CA : Displaying command position
STEP UINT
CV : Displaying command speed
MCD UINT SA : Displaying the current position
SV : Displaying the current speed
TRQ: Displaying the current torque
STEP : Displaying the current operating data step No.
MCD : Displaying the current M code value
(1) The current operating state of the specified axis is read in the AXIS of the embedded positioning.
(2) The read operating data is saved to the variables set in the output of function blocks.
(3) In AXIS, you can set up the axis to command and select one among 1~6(1axis~6axis).
If the values other than set value are selected, “error6” will occur.
(4) You can read and monitor the command position, command speed, current position, current speed, torque, operating
data No., M code values of the set axis or use them as conditions for the user program. (Embedded positioning, there
is no torque data)
(5) “-“ speed of the command speed(CV) or the current speed(SV) indicates the reverse direction.
(6) Embedded positioning is the pulse output type; the current position and the current speed indicate the same values
with the command position, command speed.
(7) TRQ indicates the current Servo Drive’s torque state and XECU embedded positioning that is the pulse output type is
displayed as 0.

Position
Chap.7 Commands
7.3.41 Operation State Read (XPM_SRD)

Input
XPM_SRD SLOT : Setting up the numbers of slots where modules
USINT SLOT ST1 BOOL[8] 1 ~ 6: 1axis ~ 6axis
USINT AXIS ST2 BOOL[8] Output
ST3 BOOL[8] DONE : Keeping 1 after the initial operation
ST4 BOOL[8] STAT : Outputting error No. that occurred during
ST5 BOOL[8] executing function blocks
ST1 : State 1
ST6 BOOL[8]
ST2 : State 2
ST7 BOOL[8]
ST3 : State 3
ST4 : State 4
ST5 : State 5
ST6 : State 6
ST7 : State 7
(1) The command to read the bit information of the current operating state of the specified axis is sent to the AXIS of the
embedded positioning.
(2) The read bit information of the current operating state is saved to the variables set in ST1 ~ ST7
(4) The details of output variables ST1 ~ ST7 of the function block to read the current operating state bit can be used for
The program.

Position
Chap.7 Commands
Bit Description Bit Description

[0] Operating(0:Stop, 1:BUSY) [4] Origin determination
state(0:undetermined, 1:determined)
ST1 [1] Error state [5] -
[2] Completion of positioning [6] Stop state
[3] M code On signal(0:Off, 1:On) [7] -
[0] Detection of the external upper limit [4] Accelerating
[1] Detection of the external lower limit [5] At constant speed
ST2
[2] Emergency Stop state [6] Decelerating
[3] Direction(0:forward, 1:reverse) [7] Dwelling
[0] 1 axis position control operating [4] Circular interpolation operating
[1] 1 axis speed control operating [5] Homing operating
ST3
[2] Linear interpolation operating [6] Position synchronous operating
[3] - [7] Speed synchronous operating
[0] JOG operating [4] In the process of returning to the position
of pre-manual operation
ST4 [1] - [5] CAM control operating
[2] Inching operating [6] Feed control operating
[3] - [7] Ellipse interpolation operating
[0] Major axis data [4] Axis state(0:minor axis, 1: major axis)
[1] 1 ~ 6: 1axis ~ 6axis [5] -
ST5
[2] 9 ~ 12: encoder 1 ~ 6 [6] -
[3] [7] -
[0] Emergency Stop/deceleration Stop [4] External upper limit signal
signal
ST6 [1] - [5] External lower limit signal
[2] - [6] Origin signal
[3] - [7] Approximate origin signal
[0] - [4] Servo On output signal
[1] - [5] Servo alarm reset signal
ST7
[2] - [6] -
[3] - [7] -

Position
Chap.7 Commands
7.3.42 Encoder value read (XPM_ENCRDB)

Input
XPM_ENCRDB SLOT : Setting up the numbers of slots where modules
USINT BASE STAT UINT ENC : Encoder No. (set as 0 all the time)
USINT SLOT ENC_VAL DINT 0 ~ 3: Encoder 1 ~ Encoder 4
USINT ENC Output
ENC_VAL : Encoder’s current values
(1) The encoder value read command is designated to the embedded positioning.
(2) Then, the obtained current values of the encoder are displayed in ENC_VAL,
(3) You can set up the encoder to read in ENC.

Position
Chap.7 Commands
7.3.43 JOG Operation (XPM_JOG)

Input
XPM_JOG are equipped
USINT SLOT JOG_DIR : Setting the rotating direction during
USINT AXIS JOG operation
BOOL JOG_DIR 0:forward, 1:reverse
BOOL LOW/HIGH LOW/HIGH : Setting the JOG speed during
JOG operation
0:JOG low-speed operation, 1:JOG high-speed
operation
Output
(1) The JOG operation command is designated to the axis specified as AXIS of the embedded positioning.
(2) It is the manual operation function for a test and is used to verify the system operations, wiring state, position address
for teaching. You can choose either high speed or low speed.
(3) The operating conditions of JOG function block are level type. Namely, when the access condition of input variables
REQ is On, pulses are output based on the set value; when the access condition of input variables REQ is Off,
it stops.
(4) If you change the set values of LOW/HIGH in the state that operating conditions are On(during JOG operation),
speed will be changed without stopping JOG operation; if you change set values of LOW/HIGH, after deceleration
stop and change of direction, JOG operation will be continued.

Position
Chap.7 Commands
7.3.44 CAM Operation (XPM_CAM)

Input
XPM_CAM modules are equipped
REQ SLOT : Setting up the numbers of slots where modules
BOOL DONE BOOL
are equipped
USINT AXIS MST_AXIS : Setting the major axis
USINT MST_AXIS 1 ~ 6: 1axis ~ 6axis, 9 ~ 12: encoder 1 ~ 4
USINT CAM_BLK CAM_BLK : Setting CAM blocks
1 ~ 9: 1block ~ 9block
Output
(1) The CAM operation command is sent to the axis specified as AXIS of the embedded positioning.
(2) The command performs CAM operation for the relevant axis by using CAM major axis and CAM data blocks.
(3) When executing the CAM operation command, although the minor axis (one set in AXIS) is displayed as ‘During
Operation’, the motor actually does not run. When the axis set as the major one starts up, the motor starts running to
the position of the minor axis corresponding to the major axis’s position based on CAM data blocks’ values set in
CAM block (CAM_BLK).
(5) In MST_AXIS, you can set up the major axis of CAM operation among the below range. If the values other than set
value are selected, “error 11” will occur.
Setting range: 1 ~ 6(1axis ~ 6axis), 9 ~ 12 (encoder 1 ~ 4)
(6) In CAM_BLK, you can set up the CAM block No. to run among the below range. If the values other than set value are
Setting range: 1 ~ 9(block1 ~ block9)
(7) You can set up CAM data in the positioning package with the maximum of 8 blocks.
(8) To use User CAM Operation, set the CAM block No. as 9.
(9) In the case of User CAM Operation, even during operation, you can change the user CAM data with the command
for writing variable data
(10) For more details on User CAM Operation, refer to “9.4.4 User CAM Operation”.

Position
Chap.7 Commands
7.3.45 Main Axis Offset CAM Operation (XPM_CAMO)

Input
are equipped
MST_AXIS : Setting the major axis
1 ~ 6: 1axis ~ 6axis, 9 ~ 12: encoder 1 ~ 4
CAM_BLK : Setting CAM block
1 ~ 9: 1block ~ 9block
MST_OFFSET : Setting the travel amount of the major
axis’s offset position
-2147483648 ~ 2147483647
Output
(1) The CAM operation command is designated to the axis specified as AXIS of the embedded positioning.
(2) The command performs CAM operation for the relevant axis by using CAM major axis and CAM data blocks.
(3) When executing the CAM operation command, although the minor axis (one set in AXIS) is displayed as
‘During Operation’, the motor actually does not run. After the axis set as the major one starts up and it moves as far as
the travel amount of the major axis’s offset position, the motor starts running to the position of the minor axis
corresponding to the major axis’s position based on CAM data blocks’ values set in CAM block (CAM_BLK).
(5) In MST_AXIS, you can set up the major axis of CAM operation among the below range. If the values other than set
value are selected, “error 11” will occur. Setting range: 1 ~ 6(1axis ~ 6axis), 9 ~ 12(encoder 1 ~ 12)
(6) In CAM_BLK, you can set up the CAM block No. to run among the below range. If the values other than set value are
selected, “error 11” will occur. Setting range: 1 ~ 9(block1 ~ block9)
(7) You can set up CAM data in the positioning package with the maximum of 9 blocks(User CAM block: 1EA).

Position
Chap.7 Commands
7.3.6 Ellipse interpolation (XPM_ELIN)

Input
XPM_ELIN SLOT : Setting up the numbers of slots where modules
USINT AXIS STEP : Step No. to operate
UINT STEP RATIO : ellipse ratio(%)
UINT RATIO DEG : Operating angle
UINT DEG Output
(1) The command for ellipse interpolation is sent to the axis specified as AXIS of the embedded positioning.
(2) For the specified step of STEP in the specified axis, the ellipse interpolation is performed at the angle set in DEG in
the ratio set in RATIO.
(3) The ellipse interpolation distorts the operating data of the step that is set as circular interpolation in the ratio of ellipse
ratio(RATIO) and performs ellipse operation at the operating angle set in DEG. Therefore, the step of the operating
data set in STEP should be set up based on circular interpolation control.
(4) The ellipse ratio can be set in the range of 1 ~ 65535 and its unit is [X10-2 %]. Namely, if the value is set as 65535,
you will get 655.35%.
(5) The operating angle can be set in the range of 1 ~ 65535 and its unit is [X10-1 degree]. Namely, if the value is set as
3650, you will get 365.0 degree.

Position
Chap.7 Commands
7.3.47 Restart (XPM_RSTR)

Input
XPM_RSTR modules are equipped
USINT SLOT
1 ~ 6: 1axis ~ axis
USINT AXIS
Output
function blocks
(1) The restart command is designated to the AXIS (command axis) of the embedded positioning.
(2) It is used to restart up the axis that went through deceleration stop during operation and the axis where the command
is executed will restart with the previous operating data.
(3) If other operations are performed before restart up the axis that went through deceleration stop, the restart-up
command will not run.

Chapter 8 Program
Chapter 8 Program
Here describes the basic program that operate positioning module case by using its commands.
8.1 Example of Programming

8.1.1 General description
Here we supposed the embedded positioning of PLC. In the real usage, you need to change its value according to your
system configuration.
8.1.2 Current State Read

(1) Operation state read (XPM_SRD)
(a) Module ready state

When the positioning module is ready to receive the command without abnormality after the power is turned on,
it becomes "On".
(b) Address of Positioning Module
The high performance MLU embedded positioning is fixed on slot 1.

Chapter 8 Program
(c) Axis for command

If you want to make a command for each axis, you must set the axis on which to issue the command. MLU-HP can
control up to 6 axes and MLU-H2 can control up to 2 axes. In command, 1 ~ 6 refer to 1 ~ 6 axes.
(d) Bit information save area
Use XPM_SRD to set the device to store the bit state value of the axis read from the positioning module. This
device can be used as a condition in the sequence program. For example, in the above example program, the
current bit state of 1 axis is stored in% MB0 ~% MB6. Refer to "7.3.41 Read Current Operation Status Bit
Information (XPM_SRD)" for a detailed description of the stored device. The bit information stored in the device can
be used as a condition for executing another command. For example, to use the signal during operation of axis 1 in
the above example program, set it to% MB0.0. To apply the error status of axis 2, set it to% MB10.1.
(e) Execution complete state
If the function block is completed without error, "1" is output and "1" is maintained until the next execution. If an error
occurs, "0" is output.
(f) Error state
If an error occurs during execution of function block, error number is output.

Chapter 8 Program
(2) Read Operation information

it becomes "On".
(c) Axis for command
control up to 6 axes and MLU-H2 can control up to 2 axes. In command, 1 ~ 6 refer to 1 ~ 6 axis.
(d) Bit information save area
Use XPM_CRD to set the device to store the operation state value of the axis read from the positioning module. You
can use this device as a monitoring value in a sequence program. For example, in the above example program, the
current position value of 1 axis is stored in% MD8. Refer to "7.3.40 Read Operation Information (XPM_CRD)" for a
detailed description of the stored device.

Chapter 8 Program

(f) Error state
(3) Read encoder value

it becomes "On".
(b) Positioning module mounting position
In order to lower the command, you must set the position where the positioning module to place the command is to
be mounted. The high performance MLU embedded positioning is fixed on slot 0, base 1.
(c) Encoder number
Set encoder number to read encoder value.
(d) Encder Value
Set encoder number to read encoder value.
(f) Error state

Chapter 8 Program
8.1.3 Operation Test

(1) Floating Origin Setting
Decide origin of current motor’s position without set a machinery origin.
(a) Condition of running a Floating Origin Setting

The condition for executing the command XPM_FLT.
(b) Operating state of each axis
When the example program of "8.1.2 Reading current status" is applied, it is "operating" signal for each axis. Turns
on when the axis is running. Since the floating origin setting command can not be executed when the axis is in
operation, the condition is set so that the axis is not in operation. If the floating origin setting command is executed
while the axis is in operation, error 211 occurs.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns
on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(d) Ready signal for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Drive Ready” for each axis. This
command only works when this is the condition for Floating Origin Setting is on. If it is not set as “ON,” the “error 212”
would be appeared.
(e) Axis for command
control up to 6 axes and MLU-H2 can control up to 2 axes. In command, 1 ~ 6 refer to 1
~ 6 axis.
(f) Execution complete state
(g) Error state
If an error occurs during execution of function block, error number is output

Chapter 8 Program
(2) Jog Operation
(a) Condition of Jog Operation

This is the condition for executing jog operation command. In the above example program, if Jog operation
contact is OFF, 1 axis and 2 axis are negative jog low speed operation, and when Jog operation contact is ON, 1
axis and 2 axis are forward jog high speed operation.
(b) Operating state by axis
Jog Operation can only be working when the state of axis set as Jog Operation. In this example above, specific
axis set as Jog Operation otherwise it is not operating.
(c) State of driving control by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Jog Operating” for each axis.
It turns on when it is operating. Jog Operation configuration can be changed while it is operating.
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
(e) Ready signal for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Drive Ready” for each axis.
This command only works when the condition of Jog Operation is on. If it is not set as “ON,” the “error 413”
would be appeared.
(f) Address of Positioning Module
In this example, Positioning Module is fixed at the 1 slot of 0 bases.
(g) Axis of command execution
Set an axis to execute Jog Operation. MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. It is
available to set 1 ~ 6(axis1~axis6) on “Axis of command execution” of Jog operation command.
(h) Selection for Jog Direction
Set the direction of Jog operation. If Input value is 0, it will execute Jog operation in forward direction. If Input value is
1, it will execute Jog operation in reverse direction. Direction is can be changed in operation.
(i) Selection for Jog Speed

Chapter 8 Program
Set the speed of Jog operation. If Input value is 0, it will execute low speed Jog operation. If Input value is 1, it will
execute high speed Jog operation. Operating speed can be changed in operation.
(j) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If error
occurred, “0” will be outputted.
(k) Error State
This is the area that output error no. if there are errors in operation of function block.

Chapter 8 Program
(3) Inching Operation
(a) Condition of Inching Operation

Condition of Inching Operation Command (XPM_INC)
(b) Operating state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Inching Operating” for each axis.
It turns on when it is operating. Inching Operation can not be configured while it is running hence configuration will
only be configured when it is not running. If you execute Inching Operation while it is running, the “error 401” would
be appeared.
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns
on when an error occurred. Operation will only work when there is no error. If you want to operate a system
(d) Address of Positioning Module
(f) Amount of Inching Operation Movement
Measure the amount of moving range by Inching Operation.

Chapter 8 Program
(4) Return to the position before Manual Operation
(a) Condition of Return to the position before Manual Operation

The condition of return to the position before manual operation (XPM_RTP).
(b Operating state of each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Manual Operating” for each axis. It
turns on when it is operating. Inching Operation can not be configured while it is running hence configuration will only
be configured when it is not running.
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns on
when an error occurred. Operation will only work when there is no error. If you want to operate a system regardless of
errors, you can just inactivate the function.
command only works when this is the condition for Manual Operation is on. If it is not set as “ON,” the “error 434”
would be appeared.
(e) Address of Positioning Module
(f) Axis for command
(g) Execution complete state
(h) Error state
(i) When manual operation is running, the other operations are going back to its original position such as Jog Operation
and Inching Operation. Reference for Manual Operation is from “Chapter 9.3.3.”

Chapter 8 Program
8.1.4 Parameter and Operation Data Setting

(1) Parameter Setting
(a) Condition of Return to the position before Manual Operation

Chapter 8 Program
The condition of parameter setting commands (XPM_SBP, XPM_SEP, XPM_SHP, XPM_SMP, XPM_SIP,
XPM_SCP).
be configured when it is not running. If parameter setting command is executed while axis is running, error 471 occurs.
If you want to make a command for each axis, you must set the axis on which to issue the command.
MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In command, 1 ~ 6 refer to 1 ~ 6 axis.
(f) Parameter value to change
Set the value of each parameter item to be changed. The values corresponding to the parameters are shown in
“Chapter 7. Function Block”, refer to each parameter setting function block. In the case of the external signal
parameter setting command (XPM_SIP), it becomes the external signal parameter value instead of the specific item
value.
(g) Parameter item to change
Set the item to be changed by the parameter value (f) set in the instruction. When the command is executed,
the parameter value set in this item is changed to the set parameter value (f). The values corresponding to the
parameters are shown in "Chapter 7. Function Block ", refer to each parameter setting function block. In the case of
the external signal parameter setting command (XPM_SIP), this part is not applicable because the entire external
signal parameter value is changed instead of the specific item value
(h) RAM/ROM Setting
Set the changed parameter value only when power is applied to the module (RAM setting), whether to keep
the module even when power is not applied (ROM setting). When the value of this item is set to "0", the RAM setting
becomes the RAM setting and the ROM setting becomes "1". The ROM setting can be performed only when all axes
are stopped. There are no limitations on the number of parameter ROM settings to be performed.
(i) The execution contents of each function block are as follows.
XPM_SBP: Acceleration time 1 of axis 1 basic parameter is set to 1000ms in RAM
XPM_SEP: Axis 2 extended parameter 2 axis linear interpolation continuous operation set the circular insertion
position to 500 by RAM
XPM_SHP: Sets the home position of axis 1 home return parameter to 100
XPM_SMP: Set the jog high speed of axis 2 manual operation parameter to 5000 by ROM setting
XPM_SIP: Axis 2 I / O signal parameter value is 16 # 13 (Preserves upper limit, Does not use lower limit, Near point A
contact point, ROM setting by using deviation clear)
XPM_SCP: ROM setting of % MD24 value of % MB100 item of common parameter

Chapter 8 Program
(2) Operating Data Setting
(a) Condition of operating data setting

The condition of operating data setting (XPM_SMD).
(f) Operating data step to changed
Set the operation data step number to be changed by the operation data setting instruction. MLUH can set operation
data of 400 steps for each axis. This item can be set from 0 to 400, and 1 to 400 means 1 step to 400 steps. When set
to "0", it means "current step" of operation data of the axis.

Chapter 8 Program
(g) Operating value to changed

Set operating data item value to change.
(h) Operating data item to changed
Set the operation data item to be changed to the operation data value (h) set in the command. When the command is
executed, the operation data value set in this item is changed to the set operation data value (h). The values
corresponding to each item of operation data are as follows. For example, if the operation data setting command is
executed after setting "1000" to the operation data value to be changed and "4" to the operation data item, the dwell
time value of the operation data is changed to "1000ms".
Setting Value Items

1 Goal Position
2 Circular interpolation auxiliary position
3 Operating speed
4 Dwell Time
5 M code No.
6 sub axis setting
7 Helical interpolation axis
8 The number of circular interpolation turn
9 Coordinates
10 Control method
11 Operating method
12 Operting pattern
13 Size of Circular arc
14 Acc. No.
15 Dec. No.
16 Circular interpolation method
17 Circular interpolation direction
(i) RAM/ROM Setting
Set the changed parameter value only when power is applied to the module (RAM setting), whether to keep
the module even when power is not applied (ROM setting). When the value of this item is set to "0", the RAM setting
becomes the RAM setting and the ROM setting becomes "1". The ROM setting can be performed only when all axes
are stopped. There are no limitations on the number of parameter ROM settings to be performed.
(j) Execution complete state
(k) Error state
(l) The execution contents of each function block are as follows.
Axis 1 operation data setting: Set the target position of axis 1 operation data No. 2 step to 10000 RAM setting
Axis 2 operation data setting: Axis 2 operation data% MW41 (Axis 2 operation step) The% MB112 (Axis 2 operation
data item) item is set to% MD27 (Axis 2 operation data value)

Chapter 8 Program
(3) Operation Data Teaching Array
(a) Condition of teaching array

The condition of teaching array (XPM_ATEA).
(f) Address of first device of the step to teach
To execute a Teaching Array, you need to set a specific value first. For example, the teaching of axis 1 of the above
example program is done from step 13 to 10, that is, step 13 to step 22.
(g) Teaching method
Set the changed operation data value only when power is applied to the module (RAM teaching), or when the module
is not powered (ROM teaching). When the value of this item is set to "0", RAM teaching is performed when the
instruction is executed, and when it is set to "1", ROM teaching is performed. The ROM setting can be performed only

Chapter 8 Program
when all axes are stopped. There is no limit to the number of times that ROM teaching is performed.
(h) Teaching item
Set items to be changed by Teaching among operation data items. Items that can be changed by teaching multiple
teaching are "Target position" and "Operation speed". When set to "0", the target position is set. When "1" is set, it
means operation speed.
(i) Number of teaching
Set the number of steps to perform teaching. MLU can teach multiple teaching of max. 16 data.
(j) Address of first device of teaching array data
To execute a Teaching Array, you need to set a specific value first. TWR commands are using for set up those
Teaching Array data. It has to be done before actual Teaching Array operation. Teaching Data will be set up depends
on number of first device as below table.
(j) Address of first device where those data for Teaching Array are saved
In order to perform teaching multiple times, the data values to be taught must be set first. Teaching data is set
according to the head number of the device in the following form.
No. Device No. Teaching array data
1 Device + 0 Teaching array data1
(k) Execution complete state

(l) Error state
(m) The execution contents of each function block are as follows.
Axis 1 teaching array: Position value of 13 steps from axis 1 to 10 steps (step 22) is stored in% MD50 ~% MD59 and
RAM teaching
Axis 2 teaching Array:% MW132 (Axis 2 Teaching Step) of axis 2 Starting% MB2666.1 item from% MD70 to% MB267
stored value% MB266.0 method

Chapter 8 Program
(4) Saving Current Data
(a) Condition of Saving Current Data

The condition of saving current data command (XPM_WRT)
(b) Emergency Stop by each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “State of Emergency Stop” for each
axis. It turns on when it is Emergency Stop. Emergency Stop can not be configured while it is running hence
configuration will only be configured when it is not running.
(c) Address of Positioning Module
(d) Axis for command
(e) Saving axis
Sets the axis on which to execute the current data save command. Axis selection is set by setting each bit
corresponding to axis as shown in the table below. Therefore, you can select and save multiple axes to be saved in
one command without executing the commands for each axis like the example program. The current data (operation
data, module parameters) of the axis on which the current data save instruction has been executed is stored in
nonvolatile memory and is maintained even when power is not applied.
N/A axis 6 axis 5 axis 4 axis 3 axis 2 axis 1
(f) Execution complete state

(g) Error state

Chapter 8 Program
8.1.5 Positioning Operation

(1) Homing
(a) Condition of homing

The condition of Homing command (XPM_ORG)
command only works when this is the condition for Drive Ready is on. If it is not set as “ON,” the “error 295” would be
appeared.
(g) Execution complete state
(h) Error state
(i) For more information, reference for Homing is in the “Chapter 9.1.Homing””

Chapter 8 Program
(2) Direct Start
(a) Condition of Direct Start

The condition of Direct Start command (XPM_DST)
appeared.
(g) Direct start target position

Chapter 8 Program
Decide changing position of Direct Start command. In this example above, the initialized value is “device,” but you can
also change it with “real numbers,” which data type is “DINT.”
(h) Direct start target speed
Decide goal speed of Direct Start. In this example above, the initialized value is “device,” but you can also change it
with “real numbers,” which data type is “UDINT.”
(i) Dwell time of Direct Start
Dwell Time consider as a total amount of time from beginning of Direct Start operation that reach to the goal position
and make output of Positioning Done Signal. That means after done its operation, direct Start will make a Positioning
done signal. Its unit is “ms,” and type is “UINT”
(j) Direct Start M code
You can set a value of M code which are displaying of Operating Parameter by Direct Start. The way of M code
outputs are “Parameter Expansion, M code Mode,” within the “None, With, After.” It will make an M code besides you
choose “None” for its parameter. For more information, reference for M code is in the “Chapter 4.3.2”
(k) Control Method
Set direct start control method. Perform the following operation according to the setting value.
0: Position Control
1: Speed Control
2: Feed Control
(l) Coordinate Setting
Set direct start operation coordinates. Perform the following operation according to the setting value.
0: Absolute
1: Relative
(m) Acceleration time number
Sets the acceleration time number for positioning control. Depending on the set value, acceleration is executed at the
corresponding acceleration time of the basic parameter.
0: Acceleration time 1
(n) Deceleration time number
0: Deceleration time 1
(o) Execution complete state
(p) Error state
(q) The function block used in the example is as follows.
Axis 1 Direct Start: Position control is performed with axis 1 target position% MD80 (axis 1 target position),
target speed% MD81 (axis 1 target speed), dwell time 100 ms, M code 0, absolute coordinate, acceleration time 1.
Axis 2 Direct Start: Speed control is performed with axis 2 target position% MD82 (axis 2 target position),
target speed% MD83 (axis 2 target speed), dwell time 500 ms, M code 10, relative coordinate, acceleration time 2,

Chapter 8 Program
(3) Indirect Start
(a) Condition of Indirect Start

The condition of Indirect Start command (XPM_IST)
appeared.
(g) Step no. of executing Indirect Start
Set the step number of the operation data of the instruction axis to be executed by the indirect start instruction.
(h) Execution complete state
(i) Error state
(j) Indirect start operates by appointing step of position data for each axis. Therefore it could run those commands of
Positioning control, Speed control, Feed control, Linear circular interpolation depends on setting of positioning data. For
more information, reference for Setting of Operating Data is in the “Chapter5.8.”
(k) The function block used in the example is as follows.
Axis 1 Indirect start: Indirect start of axis 1 step 1 is executed.
Axis 2 indirect start: % MW168 (indirect start step) of axis 2 Execute step indirectly.

Chapter 8 Program
(4) Ellipse Interpolation
(a) Condition of Ellipse Interpolation

The condition of Ellipse Interpolation command (XPM_ELIN)
command only works when this is the condition for Drive Ready is on. If a Drive Ready of main axis is not set as “ON,”
the “error 549” would be appeared and If a Drive Ready of subordinate axis is not set as “ON,” the “error 550” would
be appeared and
(g) Step no. of executing Ellipse Interpolation
Set the step number of the operation data of the instruction axis to be executed by the ellipse interpolation instruction.
The operation step of the sub-axis is the same as the operation step of the main axis.
(h) Ratio between ellipse interpolation axes
Set the ratio of the main axis to the subordinate axis in the circular interpolation trajectory set in the operation data.
That is, it is used to transform the arc locus into an elliptical locus using the ratio of the main axis to the vertical axis. The
unit is [X10-2%]. For details on the operation of elliptic interpolation, refer to "9.2.13 elliptic interpolation control".
(i) Ellipse interpolation operation angle
Sets the angle to be driven by ellipse interpolation. The unit is [X10-1 degree]. For details on the operation of ellipse
interpolation, refer to "9.2.13 ellipse interpolation control".
(j) Execution complete state

Chapter 8 Program

(k) Error state
(l) The function block used in the example is as follows.
Axis 1_2 ellipse interpolation: Executes ellipse interpolation with axis ratio of 50% and size of 180% with axis 1
operation as main axis and axis 2 as sub-axis% MW169 (ellipse interpolation step)

Chapter 8 Program
(5) Simultaneous Start
(a) Condition of Simultaneous Start

The condition of Simultaneous start (XPM_SST).
appeared.
(f) Axis for simultaneous start
Sets simultaneous start axis. The simultaneous start axis is set by setting the bit corresponding to each axis of
the word data to “1”. The corresponding axis of Bit is as follows.
N/A Axis 6 Axis 5 Axis4 Axis3 Axis2 Axis1
Since "16 # 03" is set in the example program, it is set to operate 1 axis and 2 axes simultaneously.
(g) Simultaneous start step number per axis
Set the step number to execute simultaneous start of each axis. Since high performance MLU-HP can control up to 6
axes,
A7_STEP ~ A8_STEP input is not used.

Chapter 8 Program
(h) Execution complete state

(i) Error state
(j) The function block used in the example is as follows.
Axis 1_2 Simultaneous start: Executes the 10th operation step of axis 1 and% MW170 (axis 2 simultaneous start step)
steps of axis 2 at the same time.

Chapter 8 Program
(6) Point Operation
(a) Condition of Point Operation

The condition of Point Operation (XPM_PST)
(b) Operating state of each axis
command only works when this is the condition for Drive Ready is on.
(f ) Axis of command execution
You can set an axis for Parameter Setting. MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In
the “execution of axis” from the configuration of Parameter Setting, you can set a value for axis1 through axis6.
(g) Amount of Point Operation Steps
Decide how many steps will be operated. In this example above, 10 Point Operation steps are set in the axis1.
Therefore, the step no. saved in %MW171 ~ %MW180 will be executed by point operation. For the details about point
operation, refer to “(4) Point operation” of “9.2.17 Positioning start”.
(h) Address of first device where those data for Step Numbers of Point Operation are saved
To execute a Point Operation, you need to set a specific value first. Point Operation Step Data will be set up depends
on number of first device as below table.
Value Device No. Point Operating Step Data

Chapter 8 Program
1 Device + 0 Point Operating Step Data 1

(i) State of Operation complete
(j) Error State

Chapter 8 Program
(7) Speed Synchronization
(a) This is the condition for Speed Synchronization

This is the condition for Speed Synchronization Command (XPM_SSS)
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It turns on
when it is operating. Operating Data Setting can not be configured while it is running hence configuration will only be
configured when it is not running. If you execute Speed Synchronization while it is running, the “error 351” would be
appeared.
the “error 354” would be appeared.
(f) Axis of command execution
(g) Main Axis Setting
Set a main axis to operate Speed Synchronization. This setting is for main axis of Speed Synchronization. This setting
cannot be set as same value as Axis of command execution, and possible setting values are as below.
(h) Ratio of Main Axis
Set value for Ratio of Main Axis to execute a Speed Synchronization.
(i) Ratio of Subordinate Axis
Set value for Ratio of Subordinate Axis to execute a Speed Synchronization. In this example above, the ratio of main and
subordinate axis is 2:1. Meaning that operational speed ratio of those axis is 2 to 1. So, if main axis is operating in speed
of 10000, subordinate axis will be operating in speed of 5000.

Chapter 8 Program
Set value Main Axis

1 Axis 1
2 Axis 2
3 Axis 3
4 Axis 4
5 Axis 5
6 Axis 6
7 -
8 -
9 Encoder1
10 Encoder2
11 Encoder3
12 Encoder4
(k) Error State
(l) For more information, reference for Speed Synchronization is in the “Chapter 9.4.1.”

Chapter 8 Program
(8) Position Assign Speed Synchronization
(a) This is the condition for Position Assign Speed Synchronization

This is the condition for Position Assign Speed Synchronization Command (XPM_SSSP)
configured if it is not running. If you execute Position Assign Speed Synchronization while it is running, the “error 351”
would be appeared.
Set a main axis to operate Speed Synchronization. This setting is for main axis of Speed Synchronization. This setting
cannot be set as same value as Axis of command execution, and possible setting values are as below.
(h) Ratio of Main Axis
Set value for Ratio of Main Axis to execute a Speed Synchronization.
(i) Ratio of Subordinate Axis
Set value for Ratio of Subordinate Axis to execute a Speed Synchronization. In this example above, the ratio of main

Chapter 8 Program
and subordinate axis is 2:1. Meaning that operational speed ratio of those axes are 2 to 1. So, if main axis is operating
in speed of 10000, subordinate axis will be operating in speed of 5000.
Set value Main Axis

1 Axis 1
2 Axis 2
3 Axis 3
4 Axis 4
5 Axis 5
6 Axis 6
7 -
8 -
9 Encoder1
10 Encoder2
11 Encoder3
12 Encoder4
(j) Goal Position
Set goal of Position Assign Speed Synchronization. Once Axis of command execution reaches the goal position,
Speed Synchronization ends and operation will be stop immediately.
(k) State of Operation complete
(l) Error State
(m) For more information, reference for Position Assign Speed Synchronization is in the “Chapter 9.4.1.”

Chapter 8 Program
(9) Synchronous Start by Position
(a) This is the condition for Synchronous Start by Position

This is the condition for Synchronous Start by Position Command (XPM_SSP)
configured when it is not running. If you execute Synchronous Start by Position while it is running, the “error 341” would
be appeared.
(g) Step of Subordinate Axis
Set step number for Subordinate Axis to execute a Speed Synchronization.
(h) Main Axis Setting
Set a main axis to operate Speed Synchronization. This setting is for main axis of Speed Synchronization.
This setting cannot be set as same value as Axis of command execution, and possible setting values are as below.
(i) Value of Main Axis
Set value for Main Axis to execute Synchronous Start by Position. Therefore main axis will be executed the command
when the subordinate axis reaches this set value.

Chapter 8 Program
Set value Main Axis

1 Axis 1
2 Axis 2
3 Axis 3
4 Axis 4
5 Axis 5
6 Axis 6
7 -
8 -
9 Encoder1
10 Encoder2
11 Encoder3
12 Encoder4
(k) Error State
(l) For more information, reference for Synchronous Start by Position is in the “Chapter 9.4.2.”

Chapter 8 Program
(10) CAM Operation
(a) This is the condition for CAM Operation

This is the condition for CAM Operation Command (XPM_CAM)
configured when it is not running. If you execute CAM Operation while it is running, the “error 701” would be appeared.
Setting of main axis to operate .This setting is for main axis of CAM Operating. This setting cannot be set as same
value as Axis of command execution. Can set a value 1~6, meaning from axis1 to axis 6 and set a value 9~12,
meaning from encoder 1 to encoder 4
(h) CAM Block Numbers
Setting for Block Numbers of CAM data to operate CAM operation. MLU-HP/H2 support 8 CAM Blocks. The CAM
Data for each Block would be downloaded to module written from Software Package.
(i) Main Axis offset
In case main offset assigned CAM operation command(XPM_CAM0) Second axis set the main axis offset
Starting position. When starting command, move to position set in main axis offset and then second axis
start CAM operation.

Chapter 8 Program
(k) Error State

(l) For more information, reference of CAM Operation is in the “Chapter 9.4.3.”

Chapter 8 Program
(11) Deceleration Stop
(a) This is the condition for Deceleration Stop

This is the condition for Deceleration Stop Command (XPM_STP)
configured when it is not running.
(e) Axis of command execution
(f) Deceleration time of Deceleration Stop
Set a deceleration time of Deceleration Stop operation. Unit of Deceleration Stop is [ms]. Since this time refers
deceleration time from the speed limit, there might be little difference between Deceleration Stop set time and actual
stop time. The range of deceleration time is “0~2,147,483,674.” 1~2,147,483,674 means Deceleration Time set as
1ms ~ 2,147483674ms. If it set as “0,” it will be operated with set deceleration value. Also it use to stop Speed
Synchronous Operation or CAM Operation while Speed and CAM Operation. During this time Deceleration Time is
meaningless, CAM Operation Is just cancelled.
(g) State of Operation complete
(h) Error State
(i) For more information, reference of Deceleration Stop is in the “Chapter 9.2.18.”
(j) Operation of each function block is as follows.
Axis1 Dec. Time : When axis1 is in operation, decelerate to %MD96(axis1 Dec. stop Time), then stop.
Axis2 Dec. Time : When axis 2 is in operation, decelerate to 1000ms, then stop.

Chapter 8 Program

Chapter 8 Program
(12) Emergency Stop
(a) This is the condition for Emergency Stop

This is the condition for Emergency Stop Command (XPM_EMG)
(c) Axis of command execution
(d) State of Operation complete
(e) Error State
(f) Emergency Stop is operating by each axis.
Once Emergency Stop command executes the error “481” would be occurred. With the set value for deceleration time,
it will be decelerated and stop the operation
(g) For more information, reference of Emergency Stop is in the “Chapter 9.2.18.”

Chapter 8 Program
(13) M code Off
(a) This is the condition for M code Cancellation

This is the condition for M code Cancellation (XPM_MOF). Once M code Cancellation command executed, number of
M code would be change to “0,” and signal of M code to “Off.”
(b) M code state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “M Code” for each axis. It turns on
when it is operating. M code Cancellation command can only be valid once M code are generated. The condition for
execution is operation possible when it is “On.”
(d) Axis of command execution
(e) State of Operation complete
(f) Error State
(g) For more information, reference of M code Cancellation is in the “Chapter 9.6.2.”

Chapter 8 Program
8.1.6 Operation Setting Change while Operating

(1) Speed Override
(a) This is the condition for Speed Override

This is the condition for Speed Override Command (XPM_SOR)
configured when it is not running. If you execute Speed Override while it is running, the “error 371” would be appeared.
(f) Value Change for Speed Operation
Set speed value. According to Speed Override from common parameters, it is a signal of “%” or “Speed Value”
depends on setting of category. Also, when Speed Override set as Speed Value, it means Unit/Time depends on
Speed Command Unit from basic parameters, or it means “rpm.” If a changing Operation Speed Value is “%,” then the
unit would be [X10-2%]. If it is “rpm, “then the unit would be X10-1rpm].
(h) Error State
(i) The function block in the example above is as follows.
Axis1 Speed Override : The operating speed of axis1 will be changed to speed value saved in %MD97 and then continue
to operate.

Chapter 8 Program
Axis2 Speed Override : The operating speed of axis2 will be changed to 20000 and then continue to operate.
(j) For more information, reference of Speed Override is in the “Chapter 9.5.5.”

Chapter 8 Program
(2) Position Override
(a) This is the condition for Position Override

This is the condition for Position Override Command (XPM_POR)
configured when it is not running. If you execute Position Override while it is running, the “error 361” would be appeared.
(f) Change for Goal Position Value
Setting Value Change for Goal Position Value. The unit of this value depends on “Unit” category. Once Position Override
commands are executed, the goal position of executed axis will be changed to set goal position.
(h) Error State
(i) The function block in the example above is as follows.
Axis1 Position Override : Goal position of axis1 is changed to the value saved in %MD98.
Axis2 Position Override : Goal position of axsi2 is changed to the value saved in %MD99.
(j) For more information, reference of Position Override is in the “Chapter 9.5.4.”

Chapter 8 Program
(3) Position Assign Speed Override
(a) This is the condition for Position Assign Speed Override

This is the condition for Position Assign Speed Override Command (XPM_PSO)
configured when it is not running. If you execute Position Assign Speed Override while it is running, the “error 381”
would be appeared.
(f) Position of Speed Change Execution
Set the position of Speed Change. Once the actual position located at set position with speed override command
running, the speed change commands are executed.
(g) Value Change for Operation speed
Set the Value Change for Operation speed. According to Speed Override from common parameters, it is a signal of “%”
or “Speed Value” depends on setting of category. Also, when Speed Override set as Speed Value, it means Unit/Time
depends on Speed Command Unit from basic parameters, or it means “rpm.” If a changing Operation Speed Value is
“%,” then the unit would be [X10-2%]. If it is “rpm, “then the unit would be X10-1rpm].
(h) State of Operation complete
(i) Error State

Chapter 8 Program
(j) The function block in the example above is as follows.

Axis1 Positioning Speed Override : When the current position of axis1 become the same position as the position saved
in %MD100, the speed value will be changed to the speed saved in %MD92.
Axis2 Positioning Speed Override : When the current position of axis1 become 50000, the speed will be changed to
100000.
(k) For more information, reference of Position Assign Speed Override is in the “Chapter 9.5.6.”

Chapter 8 Program
(4) Speed/Position Switching Control
(a) This is the condition for Speed/Position Switching Control

This is the condition for Speed/Position Switching Control Command (XPM_VTP)
configured when it is not running. If you execute Speed/Position Switching Control while it is running, the “error 301”
would be appeared.
(d) Signal from Speed Control by each Axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Speed Control state” for each axis. It
turns on when it is operating. Speed/Position Switching Control Setting can only be configured while it is running. If you
execute Speed/Position Switching Control while it is not running, the “error 302” would be appeared.
(h) Error State

Chapter 8 Program
(5) Position-specified Speed/Position Control Switching
(a) Condition to perform “position-specified speed/position switching control”

Condition to perform control command (XPM_VTPP) for position-specified speed/position switching
(b) Operation state for each axis
In case that an example program of“8.1.2 Read Current State” is applied, it is a signal showing that each
axis is “operating.” If a relevant axis is running, it becomes ‘On’. A condition has been set to make the
control command for position specified speed/position switching valid only when the relevant axis is
running. If the control command for position specified switching is carried out when the relevant axis is
not running, No.301 Error will take place.
(c) Error State for each axis
In case that an example program of“8.1.2 Read Current State” is applied, it is a signal showing “Error
State” for each axis. If any error takes place, it becomes ‘On’. A condition has been set to perform a control
command only when there is no error with the relevant axis. If the user wants to execute a command
regardless of the occurrence of errors, he/she may remove this condition.
(d) Speed Control Signal for each axis
In case that an example program of“8.1.2 Read Current State” is applied, it is a signal showing each axis
is “controlling its speed.” If the relevant axis is running under speed control, it becomes ‘On.’ A condition
has been set to make the control command for position specified speed/position switching control valid
only when the relevant axis is in a speed control status. If the control command is carried out when the
relevant axis is not in a speed control status, No.302 Error will take place.
(e) Position of a module
For the example program above, it is assumed that positioning modules are installed on NO.0 Base and
No. 1 Slot.
(f) Axis to make a command
(g) Transfer amount
After the control command for position specified speed/position control switching is executed, convert from
speed control to position control and moves by transfer amount.
(h) Completion state
If any function block is completely executed without any error, it displays and maintains “1” until the next
execution while it displays“0” if any error takes place.
(i) Error state
If any error takes place when any function block is executed, this area generates its error number.
(6) Position/ Speed Switching Control

Chapter 8 Program
(a) This is the condition for Position/ Speed Switching Control

This is the condition for Position/ Speed Switching Control Command (XPM_PTV)
configured when it is not running. If you execute Position/ Speed Switching Control while it is running, the “error 311”
would be appeared.
(d) Signal from Position Control by each Axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Position Control state” for each axis.
It turns on when it is operating. Position/ Speed Switching Control Setting can only be configured while it is running. If
you execute Position/Speed Switching Control while it is not running, the “error 317” would be appeared.
(h) Error State

Chapter 8 Program
(7) Skip Operation
(a) This is the condition for Skip Operation

This is the condition for Skip Operation Command (XPM_SKP) Once Skip Operation is executed, current operation
step is stop and will go to operate with next step.
configured when it is not running. If you execute Skip Operation while it is running, the “error 331” would be appeared.
(f) State of Operation complete
(g) Error State
(h) For more information, reference of Skip Operation is in the “Chapter 9.5.3.”

Chapter 8 Program
(8) Continuous Operation
(a) This is the condition for Continuous Operation

This is the condition for Continuous Operation Command (XPM_NMV). Once Continuous Operation is executed,
current operation step and next operation step would be operated continuously.
configured when it is not running. If you execute Continuous Operation while it is running, the “error 391” would be
appeared.
(g) Error State
(h) For more information, reference of Continuous Operation is in the “Chapter 9.5.2.”

Chapter 8 Program
(9) Current Step Change (Start Step Number Change)
(
a) This is the condition for Current Step Change
This is the condition for Current Step Change Command (XPM_SNS). Once Current Step Change is executed, current
operation step will move set step.
configured when it is not running. If you execute Current Step Change while it is running, the “error 441” would be
appeared.
(f) Change Step Number
Set change step number by Current Step Change. MLU-HP/H2 support 400 step operation data for each Axis.
Therefore, the range of step number setting of Current Step Change is 1~400.
(h) Error State
(i) For more information, reference of Current Step Change is in the “Chapter 9.5.9.”

Chapter 8 Program
(10) Repeat Step No. Change
(a) This is the condition for Repeat Step No. Change

This is the condition for Repeat Step No. Change Command (XPM_SRS). Once Repeat Step No. Change is executed,
current operation step will move set step. It will execute a operation when set of Operation Method is “Repeat.”
(b) Error state for each axis
(e) Change Step Number
Set change step number by Current Step Change. MLU-HP/H2 support 400 step operation data for each Axis.
Therefore, the range of step number setting of Current Step Change is 1~400. In the example, Axis1 and axis2 are
changed to step no.11 and step no. saved in %MW203.
(g) Error State
(h) For more information, reference of Repeat Step No. Change is in the “Chapter 9.5.10.”

Chapter 8 Program
(11) Current Position Preset
(a) This is the condition for Current Position Preset

This is the condition for Current Position Preset Command (XPM_PRS). Once Current Position Preset is executed,
current operation step will move to set step. If the origin has not set yet, the origin would be set to origin decided.
configured when it is not running. If you execute Current Position Preset while it is running, the “error 451” would be
appeared.
(f) Change Current Position
Set change current position by Current Position Preset. Unit follows the value from “Unit” of basic parameter. In the
example, Axis1 and axis2 are changed to 5000 and the position saved in %MD102.
(h) Error State
(i) For more information, reference of Current Position Preset is in the “Chapter 9.5.7.”

Chapter 8 Program
(12) Encoder Preset
(a) This is the condition for Encoder Preset

This is the condition for Encoder Preset Command (XPM_EPRE). Once Encoder Preset is executed, current operation
step will move to set step.
(d) Changing Encoder
Set Changing Encoder to execute a preset. XPM 1 to 3
(e) Changing Encoder Position
Set for Changing Encoder Position. In the example, the encoder position is changed to 2000.
(g) Error State
(h) For more information, reference of Encoder Preset is in the “Chapter 9.5.8.”

Chapter 8 Program
8.1.7 Error
(1) Error Reset
(a) This is the condition for Error Reset

This is the condition for Error Reset Command (XPM_RST). Once Error Reset is executed, it erases errors of module
form each axis.
(b) Error state for each axis
(e) Error setting of Error/Common by axis
Depending on the errors, if it is set by “0”, erase the errors in operation of each axis, if it is set by “1”, erase the common
errors of each modules.
(g) Error State

Chapter 8 Program
(2) Error History Reset
(a) This is the condition for Error History Reset

This is the condition for Error History Reset Command (XPM_HRST). Once Error Reset is executed, it erases history of
generated errors of module. MLU-HP/H2 has ten error histories by each axis. It will be saved to FRAM, remain still even
there is no power.
(d) State of Operation complete
(e) Error State

Chapter 9 Functions
Chapter 9 Functions
9.1 Homing
Homing is carried out to confirm the origin of the machine when applying the power. In case of homing, it is required to set
homing parameter per axis. If the origin position is determined by homing, the origin detection signal is not recognized during
positioning operation.
9.1.1 Homing method

(1) Methods using DOG signal
(a) Origin detection after DOG “Off” (0:DOG /HOME(Off))
(b) Origin detection after deceleration when DOG “On” (1: DOG /HOME(On))
(c) Origin detection by DOG (3: DOG)
(2) Methods without using DOG signal

(a) Origin detection by Home and upper/lower limit (2: U.L.Limit /Home)
(b) High speed Homing (4: High speed)
(c) Origin detection by upper/Lowerlimit (5: Upper/Lower limit)
(d) Origin detection by Home (6: Home)
※() is homing parameter selection item of XG-PM software package.
9.1.2 Parameters for Homing

(1) Home position
(2) Home high speed
(3) Home low speed
(4) Homing acceleration time
(5) Homing deceleration time
(6) Homing dwell time
(7) Origin compensation amount
(8) Homing reset waiting time
(9) Homing mode
(10) Homing Direction
※ For further information about homing parameters and setting value, please refer to Chapter 5.

Chapter 9 Functions
NOTE
Homing is performed by receiving signals generated from the outside while rotating the motor.
When the final origin complete signal is input, the home position is completed after stopping.
The signals required for home return are shown below.
(1)HOME signal: It is used as operating sequence and final origin confirmation signal when
detecting origin after approximate origin Off, origin detection after deceleration when
approximate origin On, origin detection by origin and upper / lower limit, origin detection by
origin. To use the origin signal, specify the P device to be mapped to the origin signal of the
external signal parameter and set the corresponding contact level to A contact or B contact.
The P device that can be mapped to the origin signal is the high-performance XBM's built-in
input P
(2)Dog signal: This is the signal used for the operating sequence when determining the home
position by the approximate origin method in the homing method. In particular, it is used as the
final origin determination signal in the home position detection operation by the near home
position. To use the approximate origin signal, specify the P device to be mapped to the
approximate origin signal of the external signal parameter and set the corresponding contact
level to A contact or B contact.
(3)Upper/lower signal: Used to check the upper and lower limits of the machine coordinate during
home return. In particular, it is a signal used for the operation sequence when detecting the
origin by the origin and the upper / lower limit, and the origin by the upper / lower limit. To use
the upper / lower limit signal, specify the P device to be mapped to the upper / lower limit
signal of the external signal parameter and set the corresponding
(4)Deviation clear signal: This signal is used to cancel the residual pulse of servo drive after
completion of origin determination. Since the servo drive must output a deviation count clear
signal before outputting all residual pulses, use the high-performance XBM built-in output as
the P device to be mapped to the deviation counter clear signal as much as possible. When
using the P contact output of the extension module, the output time may not be constant
depending on the position control cycle and the corresponding

Chapter 9 Functions
9.1.3 Origin Detection after DOG Off (0: DOG /HOME(Off))

This is the method using the DOG and HOME signal and the action by homing command is as follows.
(1) Operation
(a) Accelerates to the setting homing direction and acts by homing high speed.
(b) At the rising edge DOG signal it decelerates and acts by homing low speed.
(c) If HOME signal is entered after the DOG signal has changed from “On” to “Off”, the origin shall be determined and
it stops pulse output.
■ Operating Pattern

Chapter 9 Functions
NOTE
1. While DOG signal maintains “On”, the origin will not be determined by HOME signal.
That is, when DOG signal changes from “Off” to “On”(acceleration section -> homing high speed) , from “On” to
“Off” (deceleration section -> homing low speed) and then when the HOME changes from “Off” to “On”, the origin
will be determined.
The origin is not determined while the DOG “ON”.
Speed
Time
DOG signal
HOME signal
2. While the homing speed acts to the deceleration section by homing high speed after the DOG signal is changed
from “Off” to “On”, from “On” to “Off”, the origin will not be determined even if encounters the HOME input.
The origin is not determined in the deceleration section.
Speed
Time
DOG signal
HOME signal
3. If the DOG signal is changed from “Off” to “On”, from “On” to “Off” and encounters external upper/lower limit while
waiting the HOME input, the action is as follow.
Forward
시간
Reverse
Homing
command
DOG signal
Lower Limit
HOME signal
As the PLC changes the direction promptly without deceleration when

encounters upper/Lower limit during homing, cares should be taken in using
the stepping motor as it may cause “motor trip” .
4. If “On” time of the origin is too short, the positioning module can not recognize it.
HOME
signal
≥1ms

Chapter 9 Functions
9.1.4 Origin Detection after Deceleration when DOG On(1: DOG /HOME(On))
This is the method using the DOG and HOME signal and the action by homing command is as follows.
(1) Operation
(b) At the rising edge DOG signal it decelerates and acts by homing low speed.
(c) while the DOG signal is “On” and the homing low speed is active, the origin shall be determined if HOME signal is
entered.
Speed
Deceleration in DOG “ON”
Homing high
speed
Homing low
speed
Time
Moving amount after DOG “ON”
DOG signal When the homing speed is

decelerated by near origin,
the origin is not decided
by origin signal.
Home signal
Motor’s 1 spin (PG’s 1 spin)

ON
Homing
command
ON
In homing
State of origin-
fixed
Status waiting In homing waiting
Note
1. Once the DOG signal is “On”, when the homing speed acts from high speed to low speed via deceleration
section, if the HOME is entered in the state that the DOG signal is “ON”, the origin will be determined promptly.
That is, The origin will not be determined by the HOME signal during the decelerating.
2. When encounters the Upper/Lower limit signal before HOME after the DOG signal has changed from “Off” to
“On”, the action will be the same as the method of Article 9.1.3
3. If “On” time of HOME signal is short, the positioning module can not recognize it.

Chapter 9 Functions
9.1.5 Origin Detection by Origin and High/Low Limit (2: U.L Limit/Home)
This is the method using the DOG and HOME and the action by homing command is as follows.
(1) Operation
(b) If Upper/Lower signal is entered, it transferred to opposite direction and acts by homing low speed.
(c) If encounters the HOME signals while the homing low speed is active, the origin would be determined and it stops..
Speed
Change the direction when meet upper limit signal
Homing high
speed
Time
Homing
low speed
Upper limit
signal
HOME signal
Motor 1 turning
(PG 1 turning)
ON
Homing
command
ON
In homing
State of Origin
Fixed
Action
Waiting In homing Waiting
status
Note
In case that HOME signal is “ON” before entering the Upper/Lower limit signal, it carries out the homing low speed
operation when the Upper/Lower limit signal is entered and when HOME is “ON”, the origin will be determined
Speed
Direction change when encounters Upper/Lower Limit
Time
Upper
Limit
Home
signal

Chapter 9 Functions
9.1.6 Origin Detection by DOG signal (3: DOG)

This is used when determines the origin only by using the DOG signal.
(1) Operation
(b) If DOG signal is entered, it decelerates and transferred to opposite direction acts by homing high speed.
(c) When it operates in opposite direction, if DOG is entered again, it decelerates and transferred to opposite direction
and acts by homing low speed.
(d) If encounters the DOG signals again while the homing low speed is active, the origin would be determined and it
stops..
Forward
Turn the direction at the rising edge of DOG signal
Homing at
high speed
Homing at
Low speed
Time
Origin-determined
Turn the direction at the rising edge of

DOG signal
Reverse
DOG signal
ON
Homing command
ON
In homing
ON
The state of
origin-decided
Action status Waiting In homing Waiting
Note
If “ON” time of DOG is longer than deceleration time, the action is as follows.
Forward
Homing High
speed
Homing Low
speed
Time
Origin
determined
Deceleration section Turn the direction at the falling edge
Homing High
of DOG signal
speed
Reverse
DOG signal

Chapter 9 Functions
9.1.7 High Speed Homing (4: High Speed)

High speed origin detection is one of the homing methods that returns to the origin determination position without
detection of external signal (DOG, HOME, Upper/Lower limit) when returning to the mechanical origin position after
completion of the mechanical homing.
(1) Operation
(a) Once Homing command executes, it operates positioning with high speed and homing from current position
(b) When using High speed homing, it should be carried out in the state that the positioning by 6 types of mechanical
homing, by floating origin, or by the current position preset is completed in advance.
Speed
Homing at
high speed
Time
Origin
ON decided
Homing command
ON
In homing
ON
State of origin-
decided
Action
status

Chapter 9 Functions
9.1.8 Origin Detection by Upper/Lower Limit (5: Upper/Lower Limit)

This is the homing method using the Upper/Lower limit signal and is used when not using the HOME or DOG signal
(1) Operation
(a) It accelerates to the setting homing direction and acts by homing high speed.
(b) If Upper/Lower limit signal is entered, it transferred to opposite direction and acts by homing low speed.
(c) If Upper/Lower limit signal is turned off while the homing low speed is active, the origin would be determined and it
stops.
Forward
Turn the direction when it meet with Upper/Lower
Homing at limit signal
high speed
Origin-decided
Time
Homing at
low speed
Reverse Upper limit

signal
ON
Homing
command
ON
In homing
Origin decided
Action
waiting In homing waiting
status

Chapter 9 Functions
9.1.9 Origin Detection by HOME (6: Home)

This is used when determines the origin only by using the HOME signal.
(1) Operation
(a) It accelerates to the setting homing direction and acts by homing high speed.
(b) In this case, if HOME signal is entered, it decelerates and transferred to opposite direction acts by homing high
speed.
(c) When it operates in opposite direction, if HOME is entered again, it decelerates and transferred to opposite
direction and acts by homing low speed.
(d) If encounters the HOME signals again, the origin would be determined and it stops.
Forward
Turn the direction at the rising edge of HOME signal
Homing at
high speed
Homing at
low speed
Time
Origin
decided
Turn the direction at the falling edge of

HOME signal
Reverse
HOME signal
ON
Homing command
ON
In homing
ON
State of origin-
decided
Action
status

Chapter 9 Functions
Note
1. If “ON” time of DOG is longer than deceleration time, the action is as follows
Forward
Homing at
high speed
Homing at
low speed
Time
Origin decided
Turn the direction at the falling edge of

Dec. area
Homing at HOME signal
high speed
Reverse
Home signal
2. It acts as follows if Lower limit (if homing direction is forward, upper limit) signal is entered before HOME signal is
entered..
Forward
Turn the direction at the rising edge of HOME signal
Homing at
high speed
Time
Homing at Origin decided
low speed
Turn the direction when it meets with Lower limit
signal
Reverse
Lower limit
signal
HOME signal
ON
Homing command
ON
In homing
ON
State of Origin
decided
Action
Wating In homing Waiting
status

Chapter 9 Functions
9.2 Positioning Control

Positioning control execute using data which set on the 「Operation Data」. Positioning Control includes Single-axis
Position control, Single-axis Speed Control, Single-axis Feed Control, Interpolation control, Speed/Position Switching control,
Position/Speed Switching control.
Positioning Control Control Method Operation

Single-axis Specified axis executes positioning control from
Absolute, Single-axis Position Control
Position the beginning (current position) to the goal
Incremental, Single-axis Position Control
Control position.
The starting position (the current stop position),
Single-axis Absolute, Single-axis Feed Control
changes to 0 and executes positioning control
Feed Control Incremental, Single-axis Feed Control
as much as setting amount of movement..
Executing linear interpolation control by using
Linear Absolute, Linear Interpolation
starting address (current stop position) from the
Interpolation Incremental, Linear Interpolation
axis (2 axes or more) to the target position.
Positioning Execute positioning control until goal position by

Circular
Control the trajectory of arc and control sub-axis as
Interpolation
using axis-2 according to data of main axis.
Set by helical interpolation axis, execute linear

Helical Absolute, Circular Interpolation interpolation control until goal position by the
Interpolation Incremental, Circular Interpolation trajectory of arc and control sub-axis as using
axis-3 according to data of main axis.
Execute positioning control until goal position by
Ellipse trajectory angle of the ellipse is set to operate
Interpolation and control sub-axis as using axis- 2 according
to data of main axis.
Absolute, Single-axis Speed Control Execute Speed control as setting speed until
Speed Control
Incremental, Single-axis Speed Control deceleration stop command is entered.
Speed controlling and then speed / position
switching command or speed / position control
Speed/Position Absolute, Single-axis Speed Control
switching input signal is entered, speed control
Switching Control Incremental, Single-axis Speed Control
switch to position control and execute
positioning control as much as target position.
Position controlling and then position / speed
switching command is executed, position control
Position/Speed Absolute, Single-axis Position Control
switch to speed control and execute speed
Switching Control Incremental, single-axis Position Control
control as setting speed until deceleration stop
command is entered.

Chapter 9 Functions
9.2.1 Operation Data for Positioning Control

Describe the Operation data and Setting to execute positioning control.
Operation Data Setting

Control Method Set the Type of control and Standard coordinates of Positioning control.
Operation Method Set the control method of continuous operation data.
Goal Position Set the absolute target position or distance of positioning control.
Operation Speed Set the value of operation speed during operation control.
Set the operation number of operation control during acceleration time.
Acceleration Number Acceleration Number is selected from basic parameters which are Acceleration Number1, 2, 3,
and 4.
Set the operation number of operation control during deceleration time.
Deceleration
Deceleration Number is selected from basic parameters which are Deceleration Number1, 2,
Number
3, and 4.
M Code Set the M Code when using the code number for sub operation of positioning control.
After complete the positioning control, set the time until servo drive complete positioning
Dwell Time
control.
Sub Axis Setting Set the sub axis during interpolation control.
Circular Interpolation Set the secondary data (middle point, center point and radius) during circular interpolation.
Circular Interpolation Set the generating method of arc (middle point, center point and radius) during circular
Mode interpolation.
Circular Interpolation
Set the number of arcs to draw during circular interpolation.
Turn Number
Helical Interpolation Set the axis to run linear operation during helical interpolation.
Note
It is available to set the operation data each of 1~400 steps and axis1~6.

Chapter 9 Functions
9.2.2 Operation mode of Positioning Control

Operation mode describes various configurations for how to operate the positioning data using several operation step no.
and how to determine the speed of position data.
Operation mode types are as follows
Operation Operation
Control Method
Method Pattern
Executable Operation
End ○ Finish after the completion of the current step position control
Continue to the next step after the completion of the current step
Single Keep ○ position control
Single-axis Continuous ○ Continue to the next step continuously without stop.
Position Change the step No. to the Repeat step No. after the completion of
Control
End ○ the current step position control.
Continue to the repeat step No. after the completion of the current
Repeat Keep ○ step position control
Continuous ○ The current step and the repeat step No. continuously without stop
End ○ Speed control using current step's DATA

Speed control using current step's DATA.
Single Keep ○ If VTP command executed, continue to the next step after the
completion of the current step's positioning.
Single-axis Continuous Х Errors
Speed
Control
End ○ Speed control using current step's DATA
Speed control using current step's DATA.
Repeat Keep ○ If VTP command executed, continue to the repeat step No. after the
completion of the current step's positioning.
Continuous Х Errors
End ○ Finish after the completion of the current step’s FEED control
Continue to the next step after the completion of the current step
Single Keep ○ FEED control
Single-axis Continuous Х Errors
FEED Change the step No. to the Repeat step No. after the completion of
End ○ the current step FEED control.
Control
Repeat Keep ○ step FEED control
Continuous Х Errors
End ○ Finish after the completion of the current step’s linear interpolation
Continue to the next step after the completion of the current step s
Single Keep ○ linear interpolation
Continue to the next linear interpolation step continuously without
Linear Continuous ○ stop
Interpolation Change the step No. to the Repeat step No. after the completion of
End ○ the current step linear interpolation.
Repeat Keep ○ step s linear interpolation
The current linear interpolation and the repeat step No. continuously
Continuous ○ without stop
End ○ Finish after the completion of the current step’s circular interpolation
Continue to the next step after the completion of the current step s
Single Keep ○ circular interpolation
Continue to the next circular interpolation step continuously without
Circular Continuous ○ stop
Interpolation Change the step No. to the Repeat step No. after the completion of
End ○ the current step circular interpolation.
Repeat Keep ○ step s circular interpolation
The current circular interpolation and the repeat step No.
Continuous ○ continuously without stop

Chapter 9 Functions
Note
1. Operation mode shall be set from PLC Program or Operation data of SM-PM.
2. Operation data can be set up to 400 from operation step no. 1 ∼ 400 at each axis.
3. With one time start command, positioning operation method by one operation step positioning data and
positioning operation method by several operation step in order shall be determined by operation mode of each
positioning data set.
3. With one time start command, positioning operation method by one operation step positioning data and
positioning operation method by several operation step in order shall be determined by operation mode of each
positioning data set.
4. when executing continuous operation, The continuous operation item of common parameter must be set to
“Enable”. if Continuous Operation parameter is disabled, Continuous operation command can not be executed
(1) End Operation (Single)

(a) With one time start command, the positioning to the goal position is executed and the positioning shall be
completed at the same time as the dwell time proceeds.
(b) The positioning completion of this operation mode can be used as operation mode of last positioning data of Keep
operation mode and Continuous operation mode.
(c) Operation direction shall be determined by the value of address.
(d) Operation action is trapezoid(or S-Curve) type operation that has acceleration, constant, deceleration section
according to the setting speed and position data but the operation pattern according to the setting value is as
follows.
1) Normal Operation Patterns
Speed
Dwell time
Time
ON
Start command
In operation
ON
In acceleration
ON
In constant
speed
ON
In deceleration
ON
In dwell
ON
Positioning
complete

Chapter 9 Functions
2) Abnormal Operation Patterns

When moving amount is very small. When Acc. time = 0, Dec. time = 0
Speed Speed

Time Time
ON ON
Start Start
command command
In In
operation operation
ON
In acc. In acc.
ON
At At
constant constant
speed ON speed
In dec. In dec.
ON ON
In dwell In dwell
ON ON
Positioning Positioning
complete complete

Chapter 9 Functions
[ Example ]
- When indirect start command is executed[when Step No. of command is set to 0].
- Starting command execute total four times.
■ Setting of XG-PM
Operation Goal Position Operation Decel
Step NO. Control Method Accel NO. M Code Dwell Time
Method [pls] Speed [pls/s] NO.
Absolute Single-axis
1 Single,End 10000 1000 1 1 0 0
Positioning Control
2 Single,End 15000 500 1 1 0 0
Positioning Control
3 Single,End 25000 1000 1 1 0 0
Positioning Control
4 Single,End 30000 500 1 1 0 0
Positioning Control
■ Operation Pattern
Speed
Operation mode : Operation mode :
1000 Singular, End Singular, End

500 Singular, End Singular, End
step no. : 1 step no. : 2 step no. : 3 step no. : 4

Time
ON ON ON ON
Start
command
ON ON ON ON
In
operation
The operating step for each starting command will be [1] → [2] → [3] → [4].

Chapter 9 Functions
(2) End Operation (Repeat)

(a) With one time start command, the positioning to the goal position is executed and the positioning shall be
completed at the same time as the dwell time proceeds.
(b) The operation pattern of Repeat operation mode is same as that of Single operation but the different thing is to
determine next operation by operation step no. assigned by repeat step no. change command after positioning
completion of Repeat operation mode.
(c) Therefore, if Repeat step no. change command was not executed, the step no.“1” shall be assigned after
positioning completion of Repeat operation mode and operated at next Start command. Thus, this operation can
be used for the structure that several operation steps are repeated.
(d) In case that operation step is set as the value except “0” (1~400) for Indirect Start, the positioning operation shall
be done with the setting step no. regardless of the current operation step no. But, if the step no. is set as “0”, the
positioning operation shall be done with the current step no. changed by Repeat operation mode.
(e) Operation direction shall be determined by position address.
(f) Repeat operation step no. change command is available to execute during operation.
[ Example 1]
- Starting command execute total four times.
1 Single,End 10000 1000 1 1 0 0
Positioning Control
2 Repeat,End 15000 500 1 1 0 0
Positioning Control
3 Single,End 25000 1000 1 1 0 0
Positioning Control
4 Repeat,End 30000 500 1 1 0 0
Positioning Control
Speed Since XSRS command has

not executed, it operates
Operation method : step number “1” again. Operation method :
Single, end Single, end
1000
Operation method :
Operation method :
repeat, end
repeat, end
500
Operation step Operation step Operation step Operation step

number : 1 number : 2 number : 1 number : 2
Time
ON ON ON ON
Start
command
ON ON ON ON
In
operation
The operating step3 and step4 will not be executed

Chapter 9 Functions
[ Example 2]
- After the first starting command, change repeat operation step number as “3” by Change repeat step number」
command(XSRS).
- Execute starting command 3 times more.
■ Setting of SM-PM
1 Single,End 10000 1000 1 1 0 0
Positioning Control
2 Repeat,End 15000 500 1 1 0 0
Positioning Control
3 Single,End 25000 1000 1 1 0 0
Positioning Control
4 Repeat,End 30000 500 1 1 0 0
Positioning Control
Speed
Operation mode : Singular, End Operation mode : Singular, End If it keeps operating by start command, it will
1000 operates operation step no. 3 and 4 repeatedly
Change the No. of repeat
step
Operation mode : Repeat, End Operation mode : Repeat, End
500

Time
ON ON ON ON
Start
command
ON ON ON ON
In
operation
ON
XSRS
command

Chapter 9 Functions
(3) Keep Operation

(a) With one time Start command, the positioning to the goal position of operation step is executed and the positioning
shall be completed at the same time as dwell time proceeds and without additional start command, the positioning
of operation step for (current operation step no. +1) shall be done.
(b) Keep operation mode is available to execute several operation steps in order.
(c) Set the operation pattern by 'End' when executing the last step of Keep operation.
(d) When operation pattern is Keep, continue operation until operation pattern come out as 'End'. If there is no "END"
operation pattern, execute until operation step No. 400. and if operation pattern of step 400 is not "End'", error
occurs and operation will be stop. When operation pattern of step 400 is 'Repeat,Keep”, execute operation data of
Repeat Step Number.
(e) Operation direction shall be determined by setting value of goal position.
[ Example]
- Starting command execute total two times.
1 Single,Keep 10000 1000 1 1 0 0
Positioning Control
2 Single,Keep 15000 500 1 1 0 0
Positioning Control
3 Single,End 25000 1000 1 1 0 0
Positioning Control
4 Single,End 30000 500 1 1 0 0
Positioning Control
Speed
※Start operation step no. : 1
Operation mode : Single, Keep Operation mode : Single, End

1000
Operation mode :
Single, Keep Operation mode : Single, End
500

Time
ON ON
Start
command
ON ON
In
operation
The operating step for each starting command will be [1 → 2 → 3] → [4].

Chapter 9 Functions
(4) Continuous Operation

(a) Continuous Operation Overview
1) With one time Start command, the positioning for operation step set by continuous operation mode is executed
to the goal position without stop and the positioning shall be completed at the same time as dwell time
proceeds.
2) if the moving amount of next operation step is smaller than the deceleration distance from current position, the
"Look ahead control" is activated to avoid immediate stop at [operation speed ≠ bias speed].
3) Steps of dwell time set as 'Continuous' operation mode is ignored, steps of dwell time set as 'End' operation
pattern is valid.
4) When you execute 'Continuous' operation mode, always set as 'End' for the very last operation step.
5) When operation pattern is continuous, continue operation until operation pattern come out as 'End'. If there is
no "END" operation pattern, execute until operation step No. 400. and if operation pattern of step 400 is not
"End'", error occurs and operation will be stop. When operation pattern of step 400 is 'Repeat, continuous”,
execute operation data of Repeat Step Number.
6) Operation direction shall be determined by setting value of goal position.
7) If you want to operate with the position and speed of next step before the current operation step reaches the
goal position, the operation by the Next Move continuous operation」(XNMV) command is available.
8) 「Next Move continuous operation」(XNMV) command can be executes in the acceleration, constant speed,
deceleration section of Continuous operation.
9) when executing continuous operation, The continuous operation item of common parameter must be set to
“Enable”. Control period will be 5ms if continuous operation is enabled and it will be 1ms if continuous
operation is disabled. therfore it is recommanded to disable this parameter if continuous operation is not
required.
[ Example]
- Starting command execute one time.
1 Single,Cont 10000 500 1 1 0 0
Positioning Control
2 Single,Cont 30000 1000 1 1 0 0
Positioning Control
3 Single,End 40000 300 1 1 0 0
Positioning Control
Speed Operation mode :
Singular, Continuous
Operating step no. : 2
1000
Operation mode :
Singular, Continuous Operation mode :
Operating step no. : 1 Singular, End
500
Operating step no. : 3
300
Time
ON
Start
command
ON
In
operation
Operating step that execute according to starting command order will be [1 → 2 → 3].

Chapter 9 Functions
Note
1. When operation method is continuous, sometimes it can be changed to next operation step speed before
reaching the amount of movement current step's goal position. This is operation to change operating speed
continuously, The remained moving amount of current step is operated in next step.
(The remaining distance is less than the distance can be moved within 1 control cycle at current speed)
2. If the control method is set as linear or circular interpolation and the operation method is set as continuous,
operating speed of positioning will be different according to the interpolation continuous operation positioning
method」of extended parameter.
refer to continuous operation of interpolation control for detail.
(b) Look Ahead

1) if the moving amount of next operation step is smaller than the deceleration distance from current position, the
"Look ahead control" is activated to avoid immediate stop at [operation speed ≠ bias speed].
2) The "Look Ahead control" is control method which calculate the available entry speed for next step by goal
position of current and next step and change current speed. if the moving amount of next operation step is
smaller than the deceleration distance from current position, it will decrease the current speed to make stop
speed and bias speed equal..
3) XBM-H(P) embedded positioning executes the "Look Ahead" using goal position of total 3 steps including
current step..
The difference of general continuous operation and Look Ahead control is as below.
Normal continuous operation Continuous operation with Look Ahead
Calculate the
Speed End speed = Operating speed Speed Endspeed with *2
Calculate the *1 Look Ahead
End speed with
Look Ahead
Operation step no. : 2 Operation step no. : 2

Time Time
ON ON
Start Start
command command
ON ON
In In
operation operation
*1 : moving amount of Step 2 and Step 3 is more than the deceleration stop distance from operation speed. So, endpoint
speed = operation speed.
*2 : When moving amount of step 3 is smaller than deceleration stop distance from operation speed of step 2. Therefore, it
calculate available end point speed for step 2 by goal position of step2,3 and change speed to this..
.

Chapter 9 Functions
(c) Continuous operation of interpolation control

When control method is linear or circular interpolation and operation method is Continuous, positioning operation
is different according to the setting value by extended parameter of 「Continuous interpolation positioning
method」. There are two methods of interpolation.
One is「Passing Goal Position」which passes through the specified goal position and the other is「Near
Passing」which proceed to the next step at near position not to exceed a specified goal position.
「continuous interpolation positioning method」setting of expanded parameter is as below.
Item Setting Value Contents

0 : Passing Goal Execute Continuous Operation which passes exact goal position of
Continuous Position current step which set on operation data.
interpolation
positioning Execute Continuous operation which passes near position not to
method 1 : Near Passing
exceed a current step's goal position..
1) Passing Goal Position Continuous Operation

「Passing Goal Position」 Continuous Operation must be passing by goal position to the data set on goal
position when changing from current step to next step. In the interpolation control, when execute a continuous
operation from current step to next step, there can be mechanical vibration caused by discontinuous operating
speed because of remaining moving amount.
XBM-H(P) use the speed compensation. It can solve mechanical vibration problem and execute Continuous
operation which user set by from goal position to next step.
Next, describing the principle of「passing goal position」Continuous operation
Position of
sub-axis
Operation
Operation step : 2
step : 1
Passing by
Goal position
Passing by goal position
and continuous operation
Position of
main-axis
Continuous operation without compensation Passing by goal position operation

Speed Operating speed = Setting speed Speed Setting speed
Discontinuous Speed Compensated Speed
Operation step Operation step Operation step

Operation step no. : 2
no. : 1 no. : 2 no. : 1
Time Time
It decrease speed of acceleration, constant speed section as much as remaining amount of movement at the
last section of current step to compensate position if operates as passing goal position operation.
Because next step can start with compensated speed, can avoid occurrence of discontinuous operating
speed.

Chapter 9 Functions
2) Near Passing Continuous Operation

It changes to the next step at near position not exceeding goal position of current step.
This is the way to eliminate discontinuous operating speed which occurs by remaining amount of
movement data at the last of current step.
Next, describing the principle of「Near Passing」Continuous operation.
Position of
sub-axis
Operation step : 2
Operation step : 1
Passing by near point Passing by near point

and continuous operation
Position of
main-axis
Continuous operation without

Passing by near point operation
compensation
Speed Speed
Operating speed = Setting speed Operating speed = Setting speed
Discontinuous speed No discontinuous speed
Operation step Operation step Operation step no. : Operation step

no. : 1 no. : 2 1 no. : 2
Time Time
In the picture above, during general Continuous Operation, Occurring speed discontinuity because of
remaining amount of movement at the last operation step NO.1. 「Near Passing」Continuous Operation,
you can move the remaining amount of movement to next step and execute Continuous Operation without
speed discontinuity.
Note
When using「Near passing」continuous operation, sometimes it operates with next step speed before
reaching the amount of movement set on goal position to remove the discontinuity of speed.
However in the case of Interpolation Continuous Operation control, it can have a gap with trajectory data
which user set if it operates speed of the next step before reaching the goal position.
The following is the maximum difference of position for each axis.
• Difference of maximum axis position <( speed of each axis (pls / s) x control cycle (= 1ms or 5ms))

Chapter 9 Functions
(d) Deceleration Stop of Continuous Operation

Continuous operation control is decelerating and positioning completed during the 'End' operation step. However,
next time, it keeps next step operation after decelerating as bias speed
1) When the moving direction of current executing operation step and the moving direction of next step is different
(the case of single positioning control only)
Operation Goal Position Operation
Step NO. Control Method Accel NO. Decel NO. M Code Dwell Time
Method [pls] Speed[pls/s]
Absolute Single-axis Single
1 10000 1000 1 1 0 0
Positioning Control Continuous
2 3000 300 1 1 0 0
Positioning Control End
Speed
1000
Operation mode :
Singular, Continuous Deceleration Stop
Time
Operation mode :
Singular, End
-300
ON
Start
command
ON
In
operation
The Step1 will be operated by the start command. however, because the goal position of next step is on
opposite direction from the goal position of step1, it stops after deceleration, and then operate Step2 to a
opposite direction.
2) When the moving amount of next step is 0

When the next step's moving amount is 0, operation speed will be 0 during one control period.
Operation Goal Operation
Method Position [pls] Speed [pls/s]
Absolute Single-axis Signle
1 10000 1000 1 1 0 0
2 10000 700 1 1 0 0
3 15000 500 1 1 0 0

Chapter 9 Functions
Speed
Operation mode : Singular, Continuous

1000 Operation step no. : 2
Deceleration Stop
500
Singular, Continuous Singular, End
Time
ON
Start
command
ON
In
operation
The Step1 will be operated by the start command. However, because the moving amount of next step is 0, it
stops after deceleration, and then operates Step3 after 1 control period.
3) If there is an error on the operation data of next step

If there is an error on the next step's data(for example, if the operation speed of next step is 0 or if the
operation method of current step is「Single-axis Positioning Control」but operation method of Next step is
「Single-axis FEED Control」), it stops after deceleration after current step's operation, and then completes
operation.
Operation Goal Operation
Method Position [pls] Speed [pls/s]
1 10000 1000 1 1 0 0
2 20000 1000 1 1 0 0
Feed Control Continuous
3 30000 1000 1 1 0 0
Speed
1000
Operation mode :
Deceleration Stop
Singular, Continuous
Time
ON
Start
command
ON
In
operation

Chapter 9 Functions
Note
During Continuous Operation of Linear interpolation or circular interpolation, because the PLC does not check the
direction of movement, does not deceleration stop even if the moving direction is changed.
Therefore, if there is opposite direction of goal position set on operation data,
it may cause damages to machine because of rapid direction changing.
In this case, use the operation method of 「Keep」to prevent the damage for system.
Linear interpolating continuous operation Speed Action of main-axis

Position of sub-axis
Operation step Operation step

no. : 1 no. : 2
Operation step no. 1 Operation step no. : 2
Position Time
of main- Speed
axis Action of sub-axis
Moving direction of sub-axis is changed

Time
Operation step no. 1
ON
Start
command
ON
Main in
operation
ON
Sub in
operation

Chapter 9 Functions
9.2.3 Single-axis Positioning Control

After executed by the start positioning operation command (「Direct start」, 「Indirect start」, 「Simultaneous start」),
positioning control from specified axis (the current stop position) to goal position (the position to move).
(1) Control by Absolute method (Absolute coordinate) (「Absolute, Single-axis Positioning Control」)
(a) Positioning control from start position to goal position (the position assigned by positioning data). Positioning
control is carried out based on the position assigned (origin position) by homing.
(b) Moving direction shall be determined by start position and goal position.
▶ Start position < Goal position: forward direction positioning
▶ Start position > Goal position: reverse direction positioning
[Example] Set the Absolute Coordinates as follow, Operate single-axis positioning control.
▷Start position: 1000,
▷Goal position: 8000
The transfer amount to forward direction shall be 7000 (7000=8000-1000).
0 1000 8000
Amount of movement : 7000
Starting position Goal position

Method [pls] Speed [pls/s]
1 8000 1000 1 1 0 100
Speed
1000
Amount of movement = 7000 Dwell time = 100ms
Time
ON
Start
command
ON
In
operation
ON
In dwell
ON
Positioning
complete

Chapter 9 Functions
(2) Control by Incremental method (Relative coordinate) (「Relative, Single-axis Positioning Control」)
(a) Positioning control as much as the goal transfer amount from start position. Unlike the absolute coordinates of
goal position, it is not a value of specified on goal position; it is a moving amount of current position.
(b) Transfer direction shall be determined by the sign of transfer amount.
▷Transfer direction (+) or no sign: forward direction (current position increase) positioning
▷Transfer direction ( - ) : reverse direction (current position decrease) positioning
Starting position
Reverse Forward
Amount of movement is - Amount of movement is +
[Example] Set the Relative Coordinates as follow, Operate single-axis positioning control.
▷Start position: 5000,
▷Goal position: -7000
This will be reverse direction and positioning will be at the point of –2000.
-2000 0 5000
Positioning control in reverse direction

(Amount of movement -7000)
Goal position Starting position
Incremental Single-axis Single
1 -7000 1000 1 1 0 100
Speed
Time
Amount of Movement = -7000 Dwell time = 100ms
-1000
ON
Start
command
ON
In operation
ON
In dwell
ON
Positioning
complete

Chapter 9 Functions
9.2.4 Single-axis Speed Control

this controls the speed by the setting speed until deceleration stop command is entered.
(1) Features of Control

(a) Speed control contains 2 types of start : Forward direction start and Reverse direction start.
▷Forward direction : when position value is positive number (+) (“0” included)
▷Reverse direction : when position value is negative number (-)
(b) In case of using speed control, the following items of operation data do not affect.
▷ Coordinates, Operation method, Dwell time
▷ “Absolute, single-axis speed control”, “Relative, single-axis speed control” execute same operation.
(c) Accelerating operation of speed control operate with acceleration number and time on setting data, decelerating
operation operate with deceleration number and time of a command 「deceleration stop」
(2) Operation Timing
Speed
Decelerate within dec. stop time

Setting speed
Time
ON
Start command
ON
In operation
Stop but not to

Positioning be on
complete signal
ON
Dec. stop
command
(3) Restrictions
(a) Set the operation pattern of speed control as 'End' or 'Keep'. When it is set on "Continuous", error occurs (error
code: 236) and can not execute speed control.
(b) Using as speed control, only when「M code mode」of extended parameter is "with" , M code signal is "On".
(When "After mode", M code signal is not "On".)

Chapter 9 Functions
(c) Speed control of software upper/lower limit checking change according to the setting of the speed control of
software upper/lower limit check.
Item Setting Value Contents
During Speed Control, do not operate to check the range of
0 : Not Detect
During Speed Control upper/lower limit of software
S/W Upper/Lower limit During Speed Control, operate to check the range of upper/lower limit
1 : Detect
of software
(4) Setting of SM-PM

1 100 1000 1 1 0 0
Speed Control End

Chapter 9 Functions
9.2.5 Single-axis Feed Control

change current stop position as ‘0’, positioning control until setting goal position.
(1) Features of control

(a) The value set on goal position is moving amount. That is, moving direction is decided by the code of setting goal
position.
▷Forward direction : when position address is positive number (+) (“0” included)
▷Reverse direction : when position address is negative number (-)
(b) In case of using Single-axis Feed Control, the following items of operation data do not affect.
▷ Coordinates
▷ “Absolute, single-axis speed control”, “Relative, single-axis speed control” execute same operation.

Speed
1000
Dwell time = 100ms Dwell time = 100ms
500
Time
ON
Start command
ON
In operation
ON ON
In dwell
ON
Positioning complete
Position
1000
700
Time
The current position value is 0 when positioning starts
(3) Restrictions
(a) Set the operation pattern of Feed control as 'End' or 'Keep'. When it is set on "Continuous", error occurs (error
code: 230) and can not execute Feed control.
(4) Setting of XG-PM

1 1000 1000 1 1 0 100
Feed Control Keep
2 700 500 1 1 0 100
Feed Control End

Chapter 9 Functions
9.2.6 Linear Interpolation Control with 2 axes

After executed by positioning operation start command (「Indirect start」, 「Synchronous start」), then executing
interpolation control from starting position to the goal position with interpolation axis set as the main axis and sub axis.
(1) Linear interpolation control with absolute coordinates (「Absolute, Linear Interpolation」)
(a) Execute linear interpolation from starting position to the goal position designated on positioning data. Positioning
control is on basis of the designated position from homing.
(b) The direction of movement depends on the starting position and the goal position for each axis.
■ Starting position < Goal position : Positioning operation in forward
■ Starting position > Goal position : Positioning operation in reverse
Y Forward
Y2
Moving amount Starting positon(X1, Y1) Goal position

of Y axis (X2, Y2)
Y1
Action by linear interpolation
X Reverse X Forward
Moving amount
of X axis
X1 X2
Y Reverse
(c) Restrictions
Linear interpolation with 2 axes may not be executed in the case below.
■ 「Sub axis setting」Error (error code : 253)
▪ 「Sub axis setting」of main axis operating data is “Axis-undecided”
▪ 「Sub axis setting」of main axis operating data is the same as main axis no.
▪ 「Sub axis setting」of main axis operating data exceeds the settable axis No.
Note
Because more than 2 axes are in action, so need user to pay attention
(1) The commands available are as follows.
Speed override, Dec. time, Emergent stop, Skip operation, Continuous operation
(2) The commands unavailable in linear interpolation are as follows.
Position/Speed switching control, Position override
(3) The parameter items which work depending on the value of each axis are as follows.
Backlash compensation, Software Upper/Lower limit

Chapter 9 Functions
(d) Setting example of operating data
Items Main-axis setting Sub-axis setting Description

Absolute, Signgle When linear interpolation control is executed by the
Control Absolute, Linear
axis position method of absolute coordinates, set「Absolute, Linear
method interpolation
control*1 interpolation」on the main axis
Operating
Singular, End - Set the operating method to execute linear interpolation
method
Goal
Set the goal position to position on main-axis and sub-
position 10000 5000
axis
[pls]
Operating
Use speed-designated method of main axis for linear
speed 1000 -
interpolation
[pls/s]
Acc. no. No.1 - Set acc. no. for acceleration (no.1 ~ no.4)
Dec. no. No.2 - Set dec. no. for deceleration (no.1 ~ no.4)
When need to execute auxiliary work synchronizing
M code 0 -
with linear interpolation
Set dwell time(ms) to outputting the signal positioning
Dwell time 500 -
completion
Sub-axis Set an axis to be used as sub-axis among settable axis
Axis2 -
setting in operating data of main-axis
*1
: It does not need to be set. Whatever value is set as, it does not affect linear interpolation.
Note
Linear interpolation control is executed on the basis of operating data of main axis.
Items other than "coordinate" and "target position" during setting of subordinate axis during linear interpolation
operation do not affect linear interpolation operation. That is, setting any value does not affect the operation and
does not cause an error. Since the coordinate setting of the longitudinal axis control method indicates whether
the target position on the vertical axis is an absolute coordinate or a relative coordinate, when the linear
interpolation is controlled by the relative coordinate system, the coordinate of the vertical axis must be set to
"relative".

Chapter 9 Functions
[Example] axis1 and axis2 are main and sub axis each. Execute linear interpolation by the setting as follows
■ Starting position (1000, 4000), Goal position (10000, 1000) : In this condition, the operation is as follows.
■ Setting example of XG-PM
▪ Operating data of main-axis(axis1)
Operation Goal Position Operation Accel Decel Sub axis
Step NO. Control Method M Code Dwell Time
Method [pls] Speed [pls/s] NO. NO. setting
1 Absolute, Linear Singular, End 10000 3000 1 1 0 100 Axis 2
▪ Operating data of sub-axis(axis2)

Absolute, Single Axis-
1 Singular, End 1000 0 1 1 0 0
positioning control undecided
■ Operating pattern
Position of Sub-axis
Starting position
4000
Moving amout
of sub-axis
(1000-4000=-3000)
1000 Goal position

Position of
0 main axis
1000 5000 10000
Moving amount of main-axis

(10000-1000=9000)
Speed of
main aixs
3000
Action of main axis

0 Time
Speed of
sub axis
Action of sub axis 0 Time
-1000
ON
Start command Dwell time
ON
Main-axis in operation
ON
Sub-axis in operation

Chapter 9 Functions
(2) Linear interpolation control with relative coordinates (「Relative, Linear Interpolation」)
(a) Execute 2 axes linear interpolation from starting position to the goal position. Positioning control is on basis of the
current stop position.
(b) Moving direction depends on the sign of the goal position (Moving amount)
■ The sign is positive (+ or nothing) : Positioning operation in forward
■ The sign is negative (-) : Positioning operation in reverse
Y Forward
Y2
Moving amount Starting position (X1, Y1) Ending position of

of Y linear interpolation
(X2, Y2)
Y1
X Reverse X Forward
Moving amount of X
X1 X2
Y Reverse
(c) Restrictions
■「Sub-axis setting」error (error code : 253)
▪「Sub-axis setting」value of main axis operating data is “Axis-undecided”
▪「Sub-axis setting」value of main axis operating data is same as the main axis no.
▪「Sub-axis setting」value of main axis operating data exceeds settable axis no.
(d) Setting example of operation data

Sub-axis
Items Main-axis setting Description
setting
When linear interpolation control is executed by the
ABS, ABS,
Control method method of relative coordinates, set「Relative, Linear
(LIN)INT (SIN)POS
interpolation」on the main axis
Operating method Singular, End - *1 Set the operating method to execute linear interpolation
Goal position[pls] 10000 5000 Set the goal position to position on main & sub-axis
Operating speed Use speed-designated method of main axis for linear
1000 -
[pls/s] interpolation
M code 0 -
Dwell time 500 -
completion
Set an axis to be used as sub-axis among settable axis
Sub-axis setting Axis2 -
in operating data of main-axis
*1

Chapter 9 Functions
Note
Linear interpolation control executes the operation based on the item set in the operation data of the main axis
(command axis).
does not cause an error.
Since the coordinate setting of the longitudinal axis control method indicates whether the target position on the
vertical axis is an absolute coordinate or a relative coordinate, when the linear interpolation is controlled by the
relative coordinate system, the coordinate of the vertical axis must be set to "relative".
[Example] axis1 and axis2 are main and sub axis each. Execute linear interpolation by the setting as follows.
■ Starting position (1000, 4000), Goal position (9000, -3000) : In this condition, the operation is as follows.
1 Absolute, Linear Singular, End 9000 3000 1 1 0 100 Axis2
▪ Operating data of sub-axis(axis2)

Absolute, Single
1 Singular, End -3000 0 1 1 0 0 None
positioning control
Position of Sub-aixs
Starting position
4000
Moving amount of
sub-axis
(-3000)
Ending position of
linear interpolation
1000
Position of
0 main-axis
1000 5000 10000
Moving amount of main-axis

(9000)
Speed of main-axis
3000
Action of Moving amount = 9000
main-axis
0 Time
Speed of sub-axis
Action of
sub-axis 0 Time
Moving amount = -3000
-1000
ON
Dwell time=100ms
Start command
ON
Main-axis in operation
ON
Sub-axis in operation

Chapter 9 Functions
(3) Speed in 2 axes linear interpolation control

Operating speed in linear interpolation is according to the method of main-axis designating. After operating speed is
set on command axis (main), the designated axis for interpolation is operated by PLC’s calculating each moving
amount. Speed of sub-axis and actual speed of machine are calculated as follows.
■ Speed in 2 axes linear interpolation
Position of Y
Goal position
(X2, Y2)
Y2 )
on
lati
po
Moving amount (Speed of Sub-axis) ter
f in
of Y (Sy) do
Vy ee
(Sp Action by linear interpolation
F
Y1 Vx (Speed of main-axis)
Starting position
(X1, Y1)
Position of X
Moving amount of X(Sx)

X1 X2
Moving amount of Sub ( S y )

Speed of sub(Vy )  Speed of main (Vx ) 
Moving amount of Main ( S x )
Interpolating speed ( F )  Vx  Vy
2 2
[Example]
■ Goal position (6000, 4000)
■ Operating speed : 400 [pls/s]
Speed of sub-axis and interpolating speed are as follows.
3000
Speed of sub-axis = 400  300 [pls/s]
4000
Interpolating speed = 4002  3002  500 [pls/s]

Chapter 9 Functions
■ Speed in 2 axes linear interpolation(when Synthetic speed is selected)
Position of Y
Goal position
(X2, Y2)
Y2 )
on
lati
po
Moving amount (Speed of Sub-axis) ter
f in
of Y (Sy) edo
Vy
(Spe
F
Y1 Vx (Speed of main-axis)
Starting position
(X1, Y1)
Position of X
Moving amount of X(Sx)

X1 X2
Interpolating speed(F) = Operating speed of main axis

2 2
Interpolating moving amount(S)= Sx  Sy
Speed of main-axis = Interpolating speed(F)  Main axis moving amount(S x )

Synthetic axis moving amount(S )
Sub axis moving amount(S y )

Speed of sub-axis = Interpolating speed(F) 
Synthetic axis moving amount(S )
[Example]
■ Goal position (6000, 4000)
■ Synthetic speed : 400 [pls/s]
Interpolating moving amount(S)= 40002  30002 = 5000
4000
Speed of main-axis = 400  320
5000
3000
Speed of sub-axis = 400  240 [pls/s]
5000

Chapter 9 Functions
Note
(1) Speed limit for Sub-axis

When using linear interpolation control and moving distance of main < moving distance of sub, it is possible that sub-axis
speed calculated by PLC exceeds 「Speed limit」of basic parameter. In this case, error (error code : 261) arises and sub-axis
speed is recalculated, then sub-axis continues to operate. To prevent that errors arise, operate it at the speed below limit.
(2) The speed when the distance main-axis moved is 0
When the distance main-axis moved is 0, the operating speed of main-axis operating data becomes actual interpolating
speed. In the case that the distance main-axis moved is 0 and executing 2 axes linear interpolation, only sub-axis operates at
the speed set on command axis.
■ Setting example of SM-PM
▪ Operating data of Main-axis
Operating Operating speed Sub axis
Step no. Control method Goal position [pls] Acc. no. Dec. no. M code Dwell time
method [pls/s] setting
Absolute, Linear Singular,
1 5000 1000 No.1 No.1 0 100 Axis2
interpolation Continuous
Absolute, Linear
2 Singular, End 5000 1000 No.1 No.1 0 100 Axis2
interpolation
▪ Operating data of Sub-axis
Absolute, single
1 Singular, End 1000 0 No.1 No.1 0 0 None
position control
Absolute, single
position control
Position of sub-axis
Trace of linear
interpolation
3000
Operating step : 2
(Moving amount of
main-axis = 0)
Operating step : 1
1000
Position of main-axis
0
5000
Action of
Speed of main-axis main-axis
1000
Operating step : 1 Operating step : 2
0 Time
Speed of sub-axis Action of Operating at the
sub-axis speed of main-axis
1000
Operating step : 1 Operating step : 2
200
Time
0
ON
Start
Dwell time
command
ON
Main-axis
in operation
ON
Sub-axis
In operation

Chapter 9 Functions
(4) 2 axes linear interpolating continuous operation with circular arc interpolation
When the operation method is set as “continuous” and the direction of movement changes rapidly, machine is
possible to be damaged. When it does not have to position to the goal position, user may interpolate ‘circular
interpolating operation’ between two trace to make operation softer and smoother.
(a) Operation order

1) Confirm the execution of 2 axes linear interpolating continuous operation with circular arc interpolation when
linear interpolation starts. It may be set in「2 axes linear interpolating continuous operation with circular arc
interpolation」of extended parameter.
Setting items Setting value Description
2 axes linear interpolating 0 : Not to execute When executing it, not to interpolate circular arc
continuous operation with
circular arc interpolation 1 : To execute When executing it, interpolate circular arc
2) Reset the starting position of circular interpolation (Goal position of Linear trace 1) and the goal position
(Starting position of Linear trace 2) through checking the position circular arc will be interpolated at. The
position circular arc will be interpolation at may be set in「Circular arc interpolating position」of extended
parameter.
Setting items Setting value Description
2 axes linear interpolating Set the position circular arc will be interpolated at.
continuous operation with 0 ~ 2147483647 This value means the relative distance from the
circular arc interpolation goal position of linear trace 1.
3) Execute linear interpolation to the starting position of circular arc and continue to execute circular interpolation
at the same speed as linear interpolation. After finish the circular interpolation, continue to execute linear
interpolation at the same speed.
(b) Operating pattern

No circular interpolation Circular interpolating continuous operation
Sub-axis Shock occurs Sub-axis Operation Position of circular interpolation

step: 1
Operation Position of
step : 1 circular
interpolation
Operation Operation
Circular
step : 2 step : 2
interpolation
Main- Main-
axis axis
Connecting speed Connecting speed
Linear Circular Linear

Operation step :1 Operation step: 2
interpolation interpolation interpolation
0 Time 0 Time

Chapter 9 Functions
(c) Restrictions
Circular interpolation is not executed in the case below but linear interpolation is executed to the goal position.
▪ Operating method of operation data is “End” or “Continue”
▪ Position of circular arc interpolating is bigger than linear trace 1, 2 (Error code : 262)
▪ Trace of both linear interpolations are on the same line
[Example] Execute linear interpolation when the extended parameter setting is same as follows at the
current position (0,0)
Extended parameter Setting value

2 axes linear interpolating continuous operation
1 : Circular arc interpolating continuous operation
with circular arc interpolation
Position of 2 axes linear interpolating continuous
2000
operation with circular arc interpolation

▪ Operating data of Main-axis
Operating Sub axis
Step no. Control method Goal pos[pls] speed [pls/s] Acc. no. Dec. no. M code Dwell time
method setting
Absolute, Linear singular,
1 0 3000 No.1 No.1 0 0 Axis2
interpolation continuous
Absolute, Linear singular,
2 5000 3000 No.1 No.1 0 0 Axis2
interpolation continuous
Absolute, Linear
3 singular, end 5000 3000 No.1 No.1 0 100 Axis2
interpolation
▪ Operating data of Sub-axis

Operating Sub axis
Step no. Control method Goal pos[pls] speed [pls/s] Acc. no. Dec. no. M code Dwell time
method setting
Absolute, single axis
1 singular, end 1000 0 No.1 No.1 0 0 None
position control
position control
position control
No circular arc interpolation Circular arc interpolating continuous operation
Sub-axis Sub-axis
4000 4000
Operation step : 3
3000
Position of
circular arc
Operation step : 2 interpolation=
1000 1000 2000
Operation step : 1
Main Main
0 -axis 0 -axis
1000 5000 1000 3000 5000

Chapter 9 Functions
■ Description about action

When executing operation step no.1, execute linear interpolation to original goal position (0,1000) without circular
arc interpolation because position to interpolate circular arc(2000) is bigger than the length of line 1(1000).
When finishing linear interpolation to goal position of operation step no.1 and executing operation step no.2,
because position to interpolate circular arc(2000) is smaller than line length of step no.2(5000) and no.3(3000), so
recalculate the starting position (Goal position of linear trace no.1) and the goal position (Starting position of linear
trace no.2) of circular interpolation.
After continue to execute linear interpolation to the recalculated goal position of operation step no.2(3000,1000),
then execute circular interpolation to recalculated starting position of operation step no.3(5000,3000).
After circular interpolation, execute linear interpolation to the goal position of operation step no.3(5000,4000),
Positioning will be complete.

Chapter 9 Functions

(a) Execute linear interpolation with 3 axes from starting position to the goal position designated on positioning data.
Positioning control is on basis of the designated position from homing.
Forward(axis2)
Goal position
(X2, Y2, Z2)
Starting
position Action by linear interpolation
(X1, Y1, Z1) of axis1,2,3
Y2
Z2
Forward(axis3) Moving amount of axis2
Moving amount of
axis3 Y1
Z1
Moving amount of axis1
X1 X2
Reverse Forward(axis1)
Reverse
Reverse
(c) Restrictions
■ 「Sub axis setting」Error (error code : 253)
▪ 「Sub axis setting」of main axis operating data is “Axis-undecided”
▪ 「Sub axis setting」of main axis operating data is the same as main axis no.
▪ 「Sub axis setting」of main axis operating data exceeds the settable axis no. of module now using
■ If only one axis is set as sub axis, execute “linear interpolation control with 2 axes”.

Chapter 9 Functions
Main-axis setting Sub-axis Sub-axis

Setting items Description
(axis1) setting(axis2) setting(axis3)
When linear interpolation control is executed by the
Control Absolute, Linear
- *1 - *1 method of absolute coordinates, set「Absolute, Linear
interpolation」on the main axis
Operating
Singular, End - Set the operating method to execute linear interpolation
method
Goal position Set the goal position to position on main-axis and sub-
5000 6000 4000
[pls] axis
Operating
Use speed-designated method of main axis for linear
speed 1000 -
interpolation
[pls/s]
Set acc. no. for acceleration
Acc. no. No.1 -
(no.1 ~ no.4)
Set dec. no. for deceleration.
Dec. no. No.2 -
(no.1 ~ no.4)
M code 0 -
Dwell time 500 -
completion
Sub-axis Set an axis to be used as sub-axis among settable axis
Axis2, Axis3 -
setting in operating data of main-axis
*1
Note
absolute coordinate system, the coordinate of the vertical axis must be set to "absolute".

Chapter 9 Functions
[Example] axis1 is main axis, axis2 and axis3 are sub axis. Execute linear interpolation by the setting as follows.
■ Starting position (2000, 1000, 1000), Goal position (5000, 6000, 4000)
In this condition, the operation is as follows.
1 Absolute, Linear Singular, End 5000 1000 No.1 No.1 0 100 Axis2
▪ Operating data of sub-axis1(axis2)

Absolute, Single axis
positioning control
positioning control
Forward(axis2)
Goal position
(5000,6000,4000)
6000
Forward(axis3)

(6000-1000=5000)
Moving amount of axis3 4000 Starting position

(4000-1000=3000) (2000,1000,1000)
1000
1000
2000 5000

(5000-2000=3000)
Reverse
Reverse

Chapter 9 Functions
Forward(axis2)
Starting position
(X1, Y1, Z1)
Action by linear
interpolation of
Y2 axis1, 2, 3
Z2
Forward(axis3) Moving amount of axis2
Moving amount
of axis3 Y1
Z1
X1 X2
Reverse Reverse
(c) Restrictions
■「Sub-axis setting」error (error code : 253)
▪ 「Sub-axis setting」value of main axis operating data is “Axis-undecided”
▪ 「Sub-axis setting」value of main axis operating data is same as the main axis no.
▪ 「Sub-axis setting」value of main axis operating data exceeds settable axis no.
■ If only one axis is set as sub axis, execute “linear interpolation control with 2 axes”.

Chapter 9 Functions

Main-axis setting Sub-axis Sub-axis
Setting items Description
(axis1) setting(axis2) setting(axis3)
When linear interpolation control is executed
Control Absolute, Linear REL, REL, SIN, by the method of absolute coordinates,
method interpolation SIN.POS*1 POS*1 set「Absolute, Linear interpolation」on the
main axis
Operating Set the operating method to execute linear
Singular, End -
Goal Set the goal position to position on main-axis
5000 6000 4000
position[pls] and sub-axis
Operating Use speed-designated method of main axis
1000 -
speed[pls/s] for linear interpolation
When need to execute auxiliary work
M code 0 -
synchronizing with linear interpolation
Set dwell time(ms) to outputting the signal
Dwell time 500 -
positioning completion
Sub-axis Set an axis to be used as sub-axis among
Axis2, Axis3 -
setting settable axis in operating data of main-axis
- : It does not need to be set. Whatever value is set as, it does not affect linear interpolation.
*1
Note
relative coordinate system, the coordinate of the vertical axis must be set to "relative".

Chapter 9 Functions
[Example] axis1 and axis2 are main and sub axis each. Execute linear interpolation by the setting as follows
■ Starting position (2000, 1000, 1000), Goal position (5000, 6000, 4000) : In this condition, the operation is as follows.
■ Setting example of SM-PM

1 Absolute, Linear Singular, End 5000 1000 No.1 No.1 0 100 Axis2

positioning control
positioning control
Forward(axis2)
Goal position
(5000,6000,4000)
6000
Forward(axis3)

(6000-1000=5000)
4000 Starting position

Moving amount of axis3 (2000,1000,1000)
(4000-1000=3000) 1000
1000 Reverse(axis1)
Reverse
2000 5000

(5000-2000=3000)
Reverse
Reverse

Chapter 9 Functions

Operating speed in linear interpolation is according to the method of main-axis designating. After operating speed is
set on command axis (main), the designated axis for interpolation is operated by embedded positionig module’s
calculating each moving amount. Speed of sub-axis and actual speed of machine are calculated as follows.
Y
Goal position
(X2, Y2, Z2)
Y2
Z
Z2 Moving amount of Y ( Sy)
Moving amount of
F
Vy
Z(Sz)
Vz
Vx
Y1
Z1
X1 Moving amount of X( Sx) X2

X
Starting position
(X1, Y1, Z1)
Moving amount of Sub ( S y )

Speed of sub(Vy )  Speed of main (Vx ) 
Moving amount of Main ( S x )
Moving amount of sub ( S z )
Speed of sub (Vz )  Speed of main (Vx ) 
Moving amount of main ( S x )
Interpolating speed ( F )  Vx  V y  Vz
2 2 2
[Example]
■ Starting position (2000, 1000, 1000)
■ Goal position (6000, 5000, 6000)
■ Operating speed : 400 [pls/s]
3000
Speed of sub-axis1 = 400  300 [pls/s]
4000
5000
Speed of sub-axis2 = 400  500 [pls/s]
4000
Interpolating speed = 4002  3002  5002  707 [pls/s]

Chapter 9 Functions

(When the interpolation speed selection is set to the composite speed)
Y
Goal position
(X2, Y2, Z2)
Y2
Z
Z2 Moving amount of Y ( Sy)
Moving amount of Vy
F
Z(Sz)
Vz
Vx
Y1
Z1
X1 Moving amount of X( Sx) X2

X
Starting position
(X1, Y1, Z1)
Interpolati ng speed (F)  Main axis’s target position
2 2
Moving Amount (S)  Sx  Sy  S2z
Main Axis' s Movement( Sx )

Speed of Main ( Vx )  interpolat ing speed(F) 
Moving Amount (S)
Sub1' s Movement (Sy )

Sub1 Speed( Vy )  Interpolat ing speed(F) 
Moving Amount( S)
Sub2' s Movement( Sz )
Sub2 Speed ( Vz )  Interpolat ing speed(F) 
Moving Amount (S)
[ Example ]
■ Starting point (2000, 1000, 1000),
■ Taget position (6000, 5000, 6000)
■ Speed : 400 [pls/s]
In the above cases, the spindle speed and subordinate axis speed are as follows
Interpolation movement amount = 40002  40002  50002  7549.8
Main Speed = 400 4000  211.9
7549.8
Sub1 Speed = 400 4000  211.9 [pls/s]
7549.8
Sub2 Speed = 400 5000  264.9 [pls/s]
7549.8

Chapter 9 Functions
Note
(1) Speed limit for Sub-axis
When using linear interpolation control and moving distance of main < moving distance of sub, it is possible that
sub-axis speed calculated by embedded positionig module exceeds 「Speed limit」of basic parameter. In this
case, error (error code : 261) arises and sub-axis speed is recalculated, then sub-axis continues to operate. To
prevent that errors arise, operate it at the speed below limit.
(2) The speed when the distance main-axis moved is 0
When the distance main-axis moved is 0, the operating speed of main-axis operating data becomes actual
interpolating speed.
In case of linear interpolation with more than 3 axes, the speed of sub-axis is calculated by the formula below.
Moving amount of sub  axis ( S y )

Speed of sub  axis (V y )  Interpolating speed ( F ) 
Merged moving amount ( S f )
Moving amount of sub  axis ( S z )

Speed of sub  axis (Vz )  Interpolating speed ( F ) 
Merged moving amount ( S f )

Chapter 9 Functions

Combination of interpolation axis is unlimited and maximum 6 axes(XBMH:2axes) linear interpolation control is available.
Characteristics of action are same as linear interpolation control with 3 axes. For the details, refer to linear interpolation
control with 3 axes.
(a) Execute linear interpolation from starting position to the goal position designated on positioning data.
Positioning control is on basis of the designated position from homing.

The operation speed for linear interpolation control is selected from the interpolation speed selection item of the
extended parameter, and the main-axis speed or the composite speed is used to specify the operation data target
speed of the main axis. If the operation speed is specified in the command axis (main axis), the positioning module
calculates and operates the interpolation axes specified in the main axis and sub-axis settings according to the
movement amount of each axis. The vertical axis speed and the interpolation speed of the actual machine are
calculated as follows.
Moving amount of sub - axis ( S2 )
Speed of sub - axis(axis2 ) (V2 )  Speed of main - axis (V1 ) 
Moving amount of main - axis ( S1 )
Moving amount of sub - axis ( S3 )

Speed of sub - axis(axis3 ) (V3 )  Speed of main - axis (V1 ) 
Moving amount of main - axis( S1 )
Moving amount of sub - axis ( S 4 )

Speed of sub - axis(axis4 )(V4 )  Speed of main - axis (V1 ) 
Moving amount of main - axis( S1 )
Interpolating Speed ( F )  V1  V2  V3  V4
2 2 2 2

Chapter 9 Functions
■ In case of selecting composite speed as an inperpolation speed
Interpolation Speed (F) = Target speed set in the main-axis operation data
2 2
Moving amount of compound (S )  S1  S2  S32  ...  S42
Moving amount of main - axis (S1 )
main axis speed (V1 )  interpolation speed (F) 
Moving amount of composite (S)
Moving amount of sub  axis1(S2 )

Sub axis speed(V2 )  interpolation (F) 
Moving amount of sub - axis2 (S3 )

Sub axis 2 speed (V3 )  interpolation speed (F) 
Moving amount of sub - axis 5 (S6 )

Sub axis 5 speed (V6 )  interpolation speed (F) 

Chapter 9 Functions
9.2.9 Designate Midpoint of Circular Interpolation

It was progressed by start command of positioning operation (「Indirect start」, 「direct start」) and operate
interpolation following the path of circular which is through midpoint that is set by 2 axes.
And, Can progress circular interpolation of over 360 degrees by the set number of circular interpolation.
The combination of 2 axes for circular interpolation is unlimited. User can randomly use 2 axes from axis 1 to axis 6. (axis
1 ~ 2 for XEMH)
(1) Control of circular interpolation by absolute coordinate, designate midpoint(Absolute, circular interpolation)
(a) Operate circular interpolation from starting point and pass the midpoint that is set operation data to target point.
(b) To be made path of circular interpolation with start position, midpoint and a crossing which is perpendicular divide
equally position of midpoint and target position.
(c) Movement direction is decided automatically depends on set target position and auxiliary point of circular
interpolation.
Forward of the Midpoint

axis of ordinates position
Acting by circular
interpolation
Target
position
Midpoint of
circular arc
Start point
(Current stop position)
Reverse of
main axis
Forward of
Origin
main axis
Reverse of point
main axis
(d) Restriction
■ User can’t draw circle which is starting point same with last point on the circular interpolation of midpoint
designation method. If you want to draw circle, please use method of midpoint.
■ User cannot progress circular interpolation of midpoint designation method with following cases.
▪ 「Sub axis setting」disorder (Error code : 279)
- In case of the value of 「Sub axis setting」 of main axis operation data is no setting axis
- In case of the value of 「Sub axis setting」 of the main axis operation data same with the number of main
axis,
- In case of value of「Sub axis setting」 of main axis operation data exceed the axis No. of module which is
can set.
▪ In case of “degree” is set as item of main axis or sub axis, (Error code : 282(Main axis), 283(Sub axis))
▪ Midpoint that is designated as auxiliary point same with start position or target position. (Error code : 284)
▪ In case of start position same with target position (Error code : 285)
▪ In case of calculated radius of circular arc exceed 2147483647pls (Error code : 286)
▪ In case of auxiliary position and target position in a straight line from start position, (Error code : 287)

Chapter 9 Functions
Note
Have to be careful, because 2 axes work both in the circular interpolation maneuver.
(1) Available auxiliary operation is as follows ;
▪ Speed override, Deceleration stop, Emergency stop, Skip operation
(2) Operation of circular interpolation unavailable command is as follows ;
▪ Position/Speed conversion control, Position override, Continuous operation
(3) The parameter item which is operated by set value of each axis is as follows ;
▪ amount of compensate of Backlash, high limit of software, low limit of software on the item of expansion
parameter
(e) Example of setting operation data

Main axis Sub axis (axis 2)
Setting item Contents
(axis1) setting setting
Absolute, circular Set 「absolute, circular interpolation」on main axis, when
Control method - *1
interpolation control circular interpolation by absolute coordinates.
Operation method Singleness, End - Set operation method for circular interpolation.
Target position Set the target position for positioning on the main axis and
10000 0
[pls] sub axis.
Operation speed Circular interpolation use method of designating
1000 -
[pls/s] composition speed
Acceleration speed No.1 - Set the acceleration time No. for acceleration. (No.1 ~ 4)
Deceleration speed No.2 - Set the deceleration time No. for deceleration. (No.1 ~ 4)
Set it for progressing auxiliary operation depends on

M code 0 -
circular interpolation operation.
set the dwell time taken until plc outputs the signal which
Dwell time 500 -
informs users of finishing the position decision
The axis of Set axis as sub axis among settable axes of module which
Axis 2 -
ordinates setting is using for now on the main axis operation data.
Circular interpolation Set midpoint for passing circular arc on the method of the
5000 5000
Auxiliary point designating midpoint.
Circular interpolation In case of using the method of designating midpoint, set
Midpoint -
mode 「midpoint」on the main axis.
Circular interpolation When user want to draw circle which is over 360 degrees,
0 -
The number of rotations set the number of rotations of circular arc.
In case of using circular interpolation, set 「Do not
Helical interpolation Do not use -
use」on the main axis.
- *1 : Do not need setting. Whatever you set, there is no effect to circular interpolation.
Note
The circular interpolation control of the method of designating midpoint operate by standards of set item on the
operation data of main axis (command axis).
When circular interpolation operation of the method of designating midpoint, there is no effect except for「Target
position」, 「Auxiliary point of circular interpolation」on the axis of setting. What ever you take for the value, there
is no effect to operate, there is no error.

Chapter 9 Functions
[Example] Operate circular interpolation of designating midpoint and absolute coordinate (main axis; axis 1,
sub axis; axis 2)
■ In case of Start position (0, 0), Target position (10000, 6000), Auxiliary point (2000, 6000), operation is as follows;
■ Example of setting in the SM-PM
▪ Main axis(axis1) operation data
The number of
Target Operation Circular Circular
Step Control Operation Acc. Dec. M Dwell Sub axis rotations of Helical
position Speed interpolation interpolatio
No. Method method Speed Speed code time setting Circular interpolation
[pls] [pls/s] Auxiliary point n mode
interpolation
Absolute,
Singleness,
1 Circular 10000 1000 No. 1 No. 1 0 100 Axis 2 10000 Midpoint 0 Do not use
End
interpolation
▪ The axis(axis 2) of ordinates operation data

The number of
position Speed interpolation interpolation
No. Method method Speed speed code time setting Circular interpolation
[pls] [pls/s] Auxiliary point mode
interpolation
Absolute,
Do not
Reduction Singleness
1 6000 0 No. 1 No. 1 0 0 setting 7500 Midpoint 0 Do not use
positioning End
axis
control
■ Operation pattern
Forward of sub axis

Acting by circular
interpolation
Midpoint position
(2000, 6000)
Target position
6000 (10000, 6000)
Midpoint of
circular arc
Start position
(0, 0)
Reverse Forward
of main of main
axis 0 2000 10000 axis
Reverse of
main axis

Chapter 9 Functions
(2) Circular interpolation by relative coordinates, the method of designating midpoint

(Relative, circular interpolation)
(a) Operate circular interpolation from start position and go through midpoint to target position as amount of set movement.
(b) Midpoint position is the incremented position as set value on 「the circular interpolation auxiliary point」 from current
stop position.
(c) The intersection of perpendicular bisectors of starting position and midpoint, the current stop position and the goal position
will be the center-point of the arc.
(d) Movement direction is decided by set target position and circular interpolation auxiliary point.
Forward of sub axis Midpoint

position
Acting by circular
interpolation
Target
Amount of position
movement
of mid point Amount of
of sub axis movement to
target position
of sub axis
Start position Midpoint

(current stop position)
Forward
Reverse of
of main
main axis Amount of movement axis
of main axis midpoint
Reverse of Amount of movement to target
sub axis position of main axis.
(e) Restriction
■ Can not draw circle which starting point is the same with last point on the circular interpolation of the method of
designating midpoint. When want to draw circle, should use midpoint method.
■ In this following case, it will be error and can not working circular interpolation of method of designating midpoint.
▪ 「Sub axis setting」disorder (Error code : 279)
- It is axis-undecided that the value of sub axis of main axis operation data.
- The value of 「Sub axis setting」 of main axis operation data is set is same with main axis No.
- The value of 「Sub axis setting」 of main axis operation data exceed axis No. of settable module which is using.
▪ In case of “Degree” is set as control item of main/sub axis. (Error code : 282(Main axis), 283(Sub axis))
▪ In case of midpoint which is designated as auxiliary point is same with start position and target position. (Error code :
284)
▪ In case of start position same with target position. (Error code : 285)
▪ Radius of calculated circle exceed 2147483647pls (Error code : 286)
▪ Start position is in alignment with auxiliary position and target position. (Error code : 287)

Chapter 9 Functions
(f) Example of operation data setting

Main axis(axis 1) Sub axis(axis
setting 2) setting
Relative, Circular When control circular interpolation by relative coordinates,
Control method - *1
interpolation set 「relative, circular interpolation」on main axis.
Operation method Singleness, End - Set operation method for circular interpolation.
Set target position as a amount of increment of stop
Target position [pls] 10000 0
position for positioning on the main axis, sub axis.
Circular interpolation use method of designating
Operation speed
1000 - composition speed. Set composition speed on the main
[pls/s]
axis.
Set acceleration time No. for acceleration.
Acceleration speed No.1 -
(No.1 ~ No.4)
Set deceleration time No. for deceleration.

Deceleration speed No. 2 -
(No.1 ~ No.4)
Set it when user wants to progress other auxiliary action

M code 0 -
with circular interpolation operation.
Dwell time 500 -
Set axis among the settable axes of current module on the

Sub axis setting Axis 2 -
main axis operation for sub.
Circular Set the middle point that the arc with mid-point designating
interpolation 5000 5000 method would pass by as an increment from the current
auxiliary point stop position
Circular
Midpoint - Set “midpoint”, when use method of designating midpoint.
interpolation mode
The number of
Set the number of rotations for drawing circle that it is over
rotations of circular 0 -
360 degrees.
interpolation
Helical interpolation Not use - Set “not use”, when use circular interpolation.
- *1 : Do not need setting. Whatever user set, there is no effect to circular interpolation.
Note
Circular interpolation of method of designating midpoint is depends on item that it is set on operation data of main axis
(command axis).
There is no effect to circular interpolation operation except for 「Target position」and「Circular interpolation auxiliary
point」, when operate circular interpolation of method of designating midpoint. Whatever user set, there is no effect
and no error.

Chapter 9 Functions
[ Example ] Operate circular interpolation of method of designating relative coordinate midpoint with axis 1 (main
axis), with axis 2 (sub axis)
■ Start position : (1000, 1000)
Target position (amount of movement) setting : (8000, 4000)
Auxiliary point (amount of movement) setting : (5000, 5000)
In this case operation is as follows:
■ Example of setting XG-PM

▪ Main axis(axis 1) Operation data
Target Operation Circular Circular The number of
Step Control Operation Acc. Dec. M Dwell Sub axis Helical
position Speed interpolation interpolation rotations of Circular
No. Method method Speed Speed code time setting interpolation
[pls] [pls/s] Auxiliary point mode interpolation
Relative,
Singleness
1 Circular 8000 1000 No. 1 No. 1 0 100 Axis 2 5000 Midpoint 0 Do not use
, End
interpolation
▪ Sub axis(axis 2) Operation data

Target Operation Circular Circular The number of
Step Control Operation Acc. Dec. M Dwell Sub axis Helical
position Speed interpolation interpolation rotations of Circular
No. Method method Speed Speed code time setting interpolation
[pls] [pls/s] Auxiliary point mode interpolation
Absolute,
Reduction Singleness Axis-
1 4000 0 No. 1 No. 1 0 0 5000 Midpoint 0 Do not use
positioning , End undecided
control
Forward of
the sub axis
Acting by circular
interpolation
Midpoint position
(6000, 6000) Target position
(9000, 5000)
6000
5000
Amount of
movement of
sub axis
Amount of movement of sub
midpoint
axis target position
= 5000
= 4000
Start point
(1000, 1000)
1000
Midpoint Forward
Reverse of
of main
main axis 0 1000 6000 9000 axis
Amount of movement of
main axis midpoint
= 5000
Amount of movement of main axis

target position
Reverse of = 8000
sub axis

Chapter 9 Functions
9.2.10 Circular interpolation control of designating midpoint

Operate interpolation up to trace of the circle after operate by starting command of positioning operation (「indirect start」,
「Start at a time」). And then, Midpoint is center of circle and it is move to rotation direction of circular interpolation.
「The number of rotations of circular interpolation」can operate circular interpolation which is over 360 degrees with
setting value.
There is no limit for composition of axis 2 that it needs to use circular interpolation control. User can select 2 axes from
axis1 to axis 6 randomly.
(1) Circular interpolation by method of absolute coordinate, designating midpoint

(Absolute, Circular interpolation)
(a) Operate from start position and circular interpolate to target position with the trace of circle. And the circle has radius
which distance is to set midpoint position. 「Circular interpolation auxiliary point」is midpoint of this circle.
(b) Moving direction depends on set direction on “circular interpolation mode” of operation data.
▪ 「Midpoint, CW」 - Circular interpolation go clockwise from current position.
▪ 「Midpoint, CCW」- Circular interpolation go counterclockwise from current position.
Midpoint, CW Midpoint, CCW
Forward of Forward of
sub axis sub axis
Target
Acting by circular interpolation position Target
position
Acting by circular interpolation
Start
position
Midpoint Radius
Midpoint
Start
Radius position
Reverse Reverse
of main Forward of Forward of
of main
axis main axis main axis
axis
Origin point Origin point
Reverse of Reverse of
sub axis sub axis

Chapter 9 Functions
(c) If target position is same with start position, can progress circular interpolation. And the circle radius is distance from
midpoint to starting position (=target position)
Forward of
sub axis Acting by circular
interpolation
Midpoint
Starting
position
= Target
position
Reverse Forward
of main of main
axis axis
Origin
Reverse of point
sub axis
(d) Condition
■ In this following case, to be error and can not progress circular interpolation control of method of designating midpoint.
▪「Sub axis setting」disorder (Error code : 279)
- In case of the value of「Sub axis setting」of main axis operation data is “axis-undecided”,
- In case of the value of「Sub axis setting」of main axis operation data is same with main axis No. by setting.
- In case of the value of「Sub axis setting」of main axis operation data exceed settable axis No.
▪ In case of “degree” is set as item of main/sub axis control, (Error code : 282(Main axis), 283(Sub axis))
▪ In case of midpoint which is set as auxiliary point is same with starting/target position, (Error code : 284)
▪ In case of calculated radius of circle exceed 2147483647pls, (Error code : 286)
Note
Should be careful during starting circular interpolation, because 2 axes act at a time.
1. Available auxiliary operation is as follows:
▪ Speed override, Deceleration stop, Emergency stop, Skip operation
2. Unavailable command with circular interpolation is as follows:
▪ Position/Speed conversion control, Position override, Consecutive operation
3. The parameter item that it is operated by set value each axes is as follows:
▪ Amount of backlash compensation of expansion parameter item, Software high limit, Software low limit

Chapter 9 Functions
(e) Example of operation data setting

Main axis(axis1) Sub axis(axis2)
setting setting
Control Absolute, Circular When control circular interpolation by relative coordinates,
- *1
method interpolation set 「relative, circular interpolation」on main axis.
Operation
Singleness, End - Set operation method for circular interpolation.
method
Target Set target position as a amount of increment of stop
10000 0
position [pls] position for positioning on the main axis, sub axis.
Operation Circular interpolation use method of designating
speed 1000 - composition speed. Set composition speed on the main
[pls/s] axis.
Acceleration Set acceleration time No. for acceleration.
No.1 -
speed (No.1 ~ No.4)
Deceleration Set deceleration time No. for deceleration.

No.2 -
speed (No.1 ~ No.4)
Set it when user wants to progress other auxiliary action

M code 0 -
with circular interpolation operation.
Dwell time 500 -
Sub axis Set axis among the settable axes of current module on the
Axis 2 -
setting main axis operation for sub.
Circular
Set the center-point on the method of designating center-
interpolation 5000 -5000
point.
auxiliary point
Circular In case of using the method of designating center-point,
interpolation Midpoint, CW - set the 「center-point, CW」or 「center-point, CCW」
mode by moving direction of circular arc.
The number
of rotations of Set the number of rotations for drawing circle that it is over
0 -
circular 360 degrees.
interpolation
Helical
Not use - Set “not use”, when use circular interpolation.
interpolation
Note
Circular interpolation of method of designating midpoint is depends on item that it is set on operation data of main
axis (command axis).
There is no effect to circular interpolation operation except for 「Target position」and「Circular interpolation
auxiliary point」, when operate circular interpolation of method of designating midpoint. Whatever user set, there is
no effect and no error.

Chapter 9 Functions
[Example] Operate circular interpolation of designating midpoint and absolute coordinate (main axis; axis 1,
sub axis; axis 2)
■ In case of Start position (0, 0), Target position (0, 0), Auxiliary point (1000, 1000), direction of rotation :CW operation is
as follows;
■ Example of setting in the XG-PM
▪ Main axis(axis1) operation data
Target Operation Circular Circular The number of Helical
Step Control Operation Acc. Dec. M Dwell Sub axis
position Speed interpolation interpolation rotations of Circular interpolati-
No. Method method Speed Speed code time setting
[pls] [pls/s] Auxiliary point mode interpolation on
Absolute,
Circular Singleness Centerpoint
1 0 1000 No. 1 No. 1 0 100 Axis 2 1000 0 Do not use
interpolatio , End ,CW
n
▪ Sub axis(axis 2) operation data

The number of
Target Operatio Decel- Circular Circular Helical
Step Control Operation Acc. M Dwell Sub axis rotations of
osition n Speed eration interpolation Interpolation interpol-
No. Method method Speed code time setting Circular
[pls] [pls/s] Speed Auxiliary point mode ation
interpolation
Absolute,
Reduction Singleness Axis- Do not
1 0 0 No.1 No.1 0 0 1000 Centerpoint 0
positioning , End undecided use
control
Forward of sub axis
Centerpoint
(1000,1000)
1000
Forward
of main
0 1000 axis

Chapter 9 Functions
(2) Circular interpolation control by the method of relative coordinate, designating center-point
(「Relative, Circular interpolation」)
(a) Start operating at starting position and then execute circular interpolation by moving amount already set, along the trace
of the arc which has a distance between starting position and designated mid-point as radius. 「Circular interpolation
auxiliary point」means the moving amount between the current position and mid-point.
(b) Moving direction is decided to set direction on “circular interpolation mode” of operation data.
▪ 「Center-point, CW」 - Circular interpolation go clockwise from current position..
▪ 「Center-point, CCW」- Circular interpolation go counterclockwise from current position.
Centerpoint, CW Centerpoint, CCW
Forward
Forward of
of sub
sub axis Amount of movement to main
axis
Acting by circular interpolation Target position axis target position
Target position
Amount of Amount of movement of main

Amount of
movement axis centerpoint position
movement
to sub axis
to sub axis
target
target Acting by circular
position
position interpolation
Start position
Amount of
Amount of
movement Radius
movement
Centerpoint of circle of sub axis
of sub axis
centerpoint
centerpoint
position
position Radius Starting position
Centerpoint of
circle
Reverse
Forward of Reverse of Forward of
of main
main axis main axis main axis
axis Amount of movement of main
axis centerpoint position
Reverse of Reverse of
Amount of movement to main sub axis
sub axis
axis target position
(c) If set target position of main axis and sub axis as “0”, than starting position will be same with target position and can
progress circular interpolation that it is drawing circle. The radius of the circle is distance from starting position to center-
point.
Forward of
sub axis
Acting by circular interpolation
Center of the circle

Starting
position
= Target
position
Reverse Forward
of the of main
main axis axis
Origin
Reverse of point
sub axis

Chapter 9 Functions
(d) Condition
■ User cannot progress circular interpolation of midpoint designation method with following cases.
▪「Sub axis setting」disorder (Error code: 279)
- In case of the value of 「Sub axis setting」 of main axis operation data is no setting axis,
- In case of the value of 「Sub axis setting」 of the main axis operation data same with the number of main axis,
- In case of value of「Sub axis setting」 of main axis operation data exceed the axis No. of module which is can set ,
▪ In case of “degree” is set as item of main axis or sub axis, (Error code: 282(Main axis), 283(Sub axis))
▪ Midpoint that is designated as auxiliary point same with start position or target position. (Error code: 284)
▪ In case of start position same with target position (Error code: 285)
▪ In case of calculated radius of circular arc exceed 2147483647pls (Error code: 286)
(e) Example of operation data setting

Main axis(axis1) Sub axis(axis2)
setting setting
Control Relative, Circular When control circular interpolation by relative coordinates, set
- *1
method interpolation 「relative, circular interpolation」on main axis.
Operation
Singleness, End - Set operation method for circular interpolation.
method
Target position Set target position as the amount of increment of stop position
10000 0
[pls] for positioning on the main axis, sub axis.
Operation
Circular interpolation use method of designating composition
speed 1000 -
speed. Set composition speed on the main axis.
[pls/s]
Acceleration Set acceleration time No. for acceleration.
No.1 -
speed (No.1 ~ No.4)
Deceleration Set deceleration time No. for deceleration.
No.2 -
speed (No.1 ~ No.4)
Set it when users want to progress other auxiliary action with
M code 0 -
circular interpolation operation.
Dwell time 500 -
Sub axis Set axis among the settable axes of current module on the
Axis 2 -
setting main axis operation for sub.
Circular Set the center-point position by amount of increment of
interpolation 5000 -5000 current stop position on the method of designating center-
auxiliary point point.
Circular In case of using the method of designating center-point, set
interpolation Midpoint, CW - the 「center-point, CW」or 「center-point, CCW」 by
mode moving direction of circular arc.
The number
of rotations of Set the number of rotations for drawing circle that it is over
0 -
circular 360 degrees.
interpolation
Helical
Not use - Set “not use”, when use circular interpolation.
interpolation

Chapter 9 Functions
Note
Circular interpolation of method of designating midpoint is depends on item that it is set on operation data of main axis
command axis).
There is no effect to circular interpolation operation except for 「Target position」and「Circular interpolation auxiliary
point」, when operate circular interpolation of method of designating midpoint. Whatever user set, there is no effect and
no error.
[ Example ] Operate circular interpolation of the method of designating relative coordinate centerpoint with axis 1
(main axis), with axis 2 (sub axis)
■ Start position: (0, 0)
Target position (amount of movement) setting: (2000, 0)
Auxiliary point (amount of movement) setting: (1000, 0)
Direction of rotations: CW
In this case operation is as follows:
■ Example of setting SM-PM
▪ Main axis (axis 1) Operation data
The number of
Target Operation Sub Circular Circular Helical
Step Control Operation Acc. Dec. M Dwell rotations of
position Speed axis interpolation Interpolation Interpolati
No. Method method Speed Speed code time Circular
[pls] [pls/s] setting Auxiliary point mode on
interpolation
Relative,
Singleness, Center-point
1 Circular 2000 1000 No. 1 No. 1 0 100 Axis 2 1000 0 Do not use
Continue ,CW
interpolation
Relative,
Singleness, Center-point
1 Circular 2000 1000 No. 1 No. 1 0 100 Axis 2 1000 0 Do not use
End ,CW
interpolation
▪ Sub axis (axis 2) Operation data

The number of
position Speed interpolation Interpolation
No. Method method Speed Speed code time setting Circular interpolation
[pls] [pls/s] Auxiliary point mode
interpolation
Absolute,
Reduction Singleness, Axis- Midpoint
1 0 0 No. 1 No. 1 0 0 0 0 Do not use
positioning End undecided
control
Absolute,
Reduction Singleness, Axis- Midpoint
1 0 0 No. 1 No. 1 0 0 0 0 Do not use
positioning End undecided
control
Forward of sub axis
Operation step No.: 1 Operation step No.: 2

1000
Centerpoint Centerpoint
0
Main axis centerpoint Main axis centerpoint
Amount of movement = 1000 Amount of movement = 1000
Main axis target position Main axis target position

Amount of movement = 2000 Amount of movement = 2000 Forward of
0 2000 4000 main axis

Chapter 9 Functions
(3) Circular interpolation control which radius of starting point is different with radius of ending point.
(「Relative, Circular interpolation」)
(a) According to set value of target position, distance A which it is distance from start point to center point is different with
distance B which it is distance from target position to center point (End point, Radius) on circular interpolation control of
the method of designating center point. Sometimes do not operate normally.
When starting point radius have difference with end point radius, calculate each speed on the set operation speed, and
operate circular interpolation control with compensating radius.
(b) In case of starting point radius has some difference with ending point radius, compensating speed is as follows:
▪ Radius of starting point > Radius of ending point: The more near from target position, the slower.
▪ Radius of starting point < Radius of ending point: The more near from target position, the faster.
Starting point radius > Ending point radius Midpoint starting point radius < Ending point radius
Forward of Forward of Starting point Target

sub axis Starting point sub axis radius position
radius < Ending point
= Ending point radius
radius Target
position
Starting point
Starting point radius
radius = Ending point
> Ending point radius
radius
Center point Center point
Starting position Starting position
Reverse of Forward of Reverse of

0 0 Forward of
main axis main axis main axis
main axis
Reverse o f Reverse o f
sub axis sub axis
Compensation Compensation
Speed will be fast
speed speed
Speed will be slow.
Setting speed Setting speed
Time Time
Note
In case of “Starting point radius < Ending point radius”, the more operate circular interpolation, the faster. Sometimes exceed
「Speed limit」of parameter. When operate circular interpolation, in case of starting point radius shorter than ending point
radius, lower speed for never exceeding「Speed limit」.
Can operate no exceed 「Speed limit」, even if it is near to target position.
Compensation speed Compensation speed

Not exceed
Exceed speed limit
speed limit
Speed be faster
Speed limit Speed limit
Setting Setting
speed speed
Lower setting speed
Time Time

Chapter 9 Functions
(4) Absolute coordinate function of the number of circular interpolation’s rotation

(a) In case of circular interpolation setting exceed 1 on circular interpolation control of the method of absolute coordinate,
designating center point. To set of the number of circular interpolation’s rotations operate the number of rotations at the
absolute coordinate of first start.
(b) Even if decelerate and stop, operate origin circular interpolation by restart.
(c) Condition
In this following case position is changed after deceleration stop command. The number of circular interpolation’s rotation
is not the number of absolute rotations. It operate by the number of relative rotations.
▪ After operate positioning command except for current step indirect start (Directing start, Jog operation, Inching
operation, Sync. operation, etc),
▪ After progress position changing command,
[ Example ] Progress circular interpolation that is the method of absolute, designating center point. And then axis 1
is main axis, axis 2 is sub axis.
■ In this case of Starting position (100, 500), Target position (400, 500), Auxiliary position (600, 500), Direction of
rotations: CW, operating is as follows:
▪ Main axis (axis 1) operation data
Circular Circular The number
Target Operation Helical
Step Control Operation Acc. Dec. M Dwell Sub axis interpolation of rotations
position Speed interpolati
No. Method method Speed Speed code time setting Auxiliary Interpolation of Circular
[pls] [pls/s] on
point mode interpolation
Absolute, circular Singleness Midpoint Do not
1 600 1000 No.1 No.1 0 100 Axis 2 600 3
interpolation , End ,CW use
▪ Sub axis (axis 2) operation data

Circular Circular The number
Target Operation Helical
Step Control Operation Acc. Dec. M Dwell Sub axis interpolation of rotations
position Speed interpolati
No. Method method Speed Speed code time setting Auxiliary Interpolation of Circular
[pls] [pls/s] on
point mode interpolation
Absolute, Reduction Singleness Axis- Do not
1 300 0 No.1 No.1 0 0 500 Midpoint 0
positioning control , End undecided use
「Deceleration stop」during of operation circular interpolation Restart of circular interpolation operation
sub axis sub axis Restart by
Stop by 「directing start」
「deceleration
stop」
Starting
position
Centerpoint Centerpoint
500 500
Starting
position
Target Target
position position
300 300
100 100
0 main axis 0 main axis
100 600 100 600
When decelerating in circular interpolation by dec. stop command and restart the same step no., not that executing circular
interpolation after circular interpolation being executed 3 times, but that positioning at the goal position after going around 1 time,
because 2 times of circular interpolation was executed in former operation.

Chapter 9 Functions
9.2.11 Circular interpolation control with designated radius

After being executed by positioning operation start (「Indirect start」, 「Sync. start」), then it operates along the trace of the
circle made by circular interpolation with 2 axes. According to「The turn no. of circular interpolation」, circular interpolation
which is bigger than 360° is available to be executed.
Combination of 2 axes for a circular interpolation is not limited. User may use any 2 axes from aixs1 ~ axis4.
(1) Circular interpolation by method of absolute and designating radius (「Absolute, Circular interpolation」)
(a) Start operating at starting position and execute circular interpolation along the trace of the circle which has radius set on
circular interpolation auxiliary point of main-axis operating data. Center point of Circular arc depends on the turning
direction (CW, CCW) of「Circular interpolation mode」 and size setting of circular arc (Circular arc<180°, Circular
arc>=180°).
Circular interpolation mode Description
Radius, CW, Arc<180° Execute circular interpolation in clockwise and the arc is smaller than 180°
Radius, CW, Arc>=180° Execute circular interpolation in clockwise and the arc is bigger than 180°
Execute circular interpolation in counterclockwise and the arc is smaller than 180°
Radius, CCW, Arc<180°
or same.
Execute circular interpolation in counterclockwise and the arc is bigger than 180°
Radius, CCW, Arc>=180°
or same.
CW, Arc<180° CW, Arc>=180° CCW, Arc<180° CCW, Arc>=180°
Sub-axis Sub-axis
Forward Forward
「CW, Arc>=180°」
Circular interpolation action
Arc < 180°

Arc >= 180° Center
Center 「CCW, Arc<180°」
point Circular interpolation action
point
Radius Radius
Goal position
Goal
position
Starting 「CW, Arc<180°」 Starting

position Circular interpolation position
action Arc>=180°
Radius Arc < 180° Radius Main-axis

Center point Main-axis Forward
Forward Center point
Origin Origin
중심점 「CCW, Arc>=180°」
action

Chapter 9 Functions
(b) Restrictions
■ Circular interpolation with designating radius method may not draw an exact circle that the starting position and ending
position are same. If user wants to draw an exact circle, use circular interpolation with center point method.
■ In the cases below, error would arise and circular interpolation may not be executed.
▪「Sub-axis setting」error (error code:279)
- Value of 「Sub-axis setting」is “Axis-undecided”
-「Sub axis setting」of main axis operating data is the same as main axis no.
-「Sub axis setting」of main axis operating data exceeds the settable axis no. of module now using.
▪ Control unit of main or sub axis is set as “degree”. (error code : 282(main), 283(sub))
▪ Starting position and goal position are same (error code:285)
▪ Radius value of circular interpolation of main-axis operating data is smaller than half of the length from starting position
to goal position
- Radius < (R x 0.8) : Error (error code:270)
- (R x 0.8) <= Radius < R
: Execute circular interpolation after reset the radius to R. In other words, execute circular interpolation by setting the
center of the line from starting position to goal position as center point.
Note
If executing circular interpolation start, 2 axes will operate at the same time. Need user to pay attention.
(1) Auxiliary operations may be used are as follows.
▪ Speed override, Dec. stop, Emergent stop, Skip operation.
(2) The commands may not be used in circular interpolating operation are as follows.
▪ Position/Speed switching control, Position override, Continuous operation
(3) The parameter items operating by standards of each axis are as follows.
▪ Amount of backlash revision in extended parameter items, Software high limit, Software low limit

Chapter 9 Functions
(c) Setting example of Operating data

Control Absolute, Circular When executing circular interpolation with absolute coordinates,
- *1
Method interpolation set「Absolute, Circular interpolation」on main
Operating
Singular, End - Set the method to execute circular interpolation
Method
Goal
10000 0 Set the goal position to execute on Main, Sub, Helical axis
position[pls]
Operating Use connecting speed designation method for circular
1000 -
speed[pls/s] interpolation. Set connecting speed on main-axis
Acc. no. No.1 - Set no. of acc. time to use in acceleration (no1~4)
Dec. no. No.2 - Set no. of dec. time to use in deceleration (no1~4)
Set it when executing another auxiliary operation synchronizing
M code 0 -
with circular interpolation
Dwell time 500 - Set dwell time for outputting positioning complete
Sub-axis Set an axis to use as sub-axis among the axis available on main-
Axis2 -
setting axis operating data.
Auxiliary
7000 - Set the radius on main-axis
point
Circular Radius, If use radius designation method, set「Radius」on main-axis and
-
interpolation CW, Arc<180° set moving direction of arc and size of arc
The No. of
- - Set the no. of turns of arc for making a circle bigger than 360°
Turns
Helical Not use - When using circular interpolation, set it to「Not use」
- *1 : It means that no need to be set. Whatever value it is, it dose not affect circular interpolation.
Note
(1) Circular interpolation control of Radius designation method is executed on the basis of the items set on operating data.
When it is executed, only「Goal position」can affect circular interpolation. In other words, whatever value is set as, it does not
affect the action and no errors arise.
(2) When setting the circular interpolating auxiliary point (radius) of main-axis, it must be bigger than the half of the length
between starting position and goal position. If it is smaller than the half(R) and the value is higher than 80% of R, circular
interpolation which has middle point between starting position and goal position as center-point is executed. If it is smaller than
the half(R) and the value is lower than 80% of R, error (error code:270) arises and circular interpolation is not executed.

Chapter 9 Functions
[Example] Axis1 is main-axis and Axis2 is sub-axis. Execute circular interpolation with relative coordinates and
designated radius.
■ Starting position (1000, 1000), Goal position (9000, 1000), Auxiliary point (5000, 0)
Moving direction of arc : CCW, Size of arc : Arc >= 180°
The action is as follows in the condition above
■ Setting example in XG-PM
▪ Main-axis(Axis1) Operating data
Goal Operating Circular The no.
Step Operation Acc. Dec. M Dwell Sub-axis Auxiliary
Control method position speed interpolation of Helical
No. Method No, No, Code Time Setting Point
[pls] [pls/s] mode turns interpolation
Absolute, Circular Radius, CW,
1 Singular, End 9000 1000 No.1 No.1 0 100 Axis2 5000 0 Not use
interpolation Arc<180
▪ Sub-axis(Axis2) Operating data
Step Operation Acc. Dec. M Dwell Sub-axis Auxiliary
Control method position speed interpolation of Helical
No. Method No, No, Code Time Setting Point
[pls] [pls/s] mode turns interpolation
Absolute, single
Radius, CW,
1 axis position Singular, End 1000 0 No.1 No.1 0 100 Axis2 5000 0 Not use
Arc<180
control
Sub-axis 「CW, Arc<180°」

Forward Circular interpolation action
Starting position Goal position

1000 (9000,1000)
(1000,1000)
Main-axis Main-axis
Reverse 0 Forward
1000 5000 9000
-1000
Radius
=5000 Arc’s degree< 180°
-2000
Center
Sub-axis
Reverse

Chapter 9 Functions
(2) Circular interpolation by method of relative and designating radius (「Relative, Circular interpolation」)
(a) Start operating from starting position and then execute circular interpolation by increment set on goal position along
the trace of the circle which has the value set on circular interpolation auxiliary point of main-axis operation data as a radius.
Circular arc depends on the moving direction of「Circular interpolation mode」(CW, CCW) and setting of arc
size(Arc<180°, Arc>=180°)
Circular interpolation mode Description

Execute circular interpolation with center-point of arc which smaller than 180°in
Radius, CW, Arc<180°
direction of CW
Execute circular interpolation with center-point of arc which bigger than 180°in direction
Radius, CW, Arc >=180°
of CW
Execute circular interpolation with center-point of arc which smaller than 180°in
Radius, CCW, Arc<180°
direction of CCW
Execute circular interpolation with center-point of arc which bigger than 180°in direction
Radius, CCW, Arc>=180°
of CWW
CW, Arc<180° CW, Arc>=180° CCW, Arc<180° CCW, Arc>=180°
Sub-axis Sub-axis
Forward ? CW, Arc>=180° ? Forward
Degree of arc < 180°

Degree of arc >= 180°
Center
Center point ? CCW, Arc180° ?
point
Radius Radius
Goal position
Moving Moving
amount Goal position amount
of sub- of sub-
axis’ goal axis’ goal
position Staring ? CW, Arc<180° ? position Starting
position Circular interpolation position
Degree of arc < 180° action
Degree of arc>=180°
Radius Center Radius
Main-axis Center point
point
Forward
Main-axis
Origin Moving amount of main-axis’ Origin Moving amount of main-axis’ Forward
goal position ? ? ? goal position
? CCW, Arc>=180° ?

Chapter 9 Functions
(b) Restrictions
■ Circular interpolation with designating radius method may not draw an exact circle that the starting position and ending
position are same. If user wants to draw an exact circle, use circular interpolation with center point method.
■ In the cases below, error would arise and circular interpolation may not be executed.
▪「Sub-axis setting」error (error code: 279)
- Value of 「Sub-axis setting」is “Axis-undecided”
-「Sub axis setting」of main axis operating data is the same as main axis no.
-「Sub axis setting」of main axis operating data exceeds the settable axis no. of module now using.
▪ Starting position and goal position are same (error code: 285)
▪ Radius value of circular interpolation of main-axis operating data is smaller than half of the length from starting position
to goal position
- Radius < (R x 0.8) : Error (error code: 270)
- (R x 0.8) <= Radius < R
: Execute circular interpolation after reset the radius to R. In other words, execute circular interpolation by setting the
center of the line from starting position to goal position as center point.
(c) Setting example of Operating data

Control Relative, Circular When executing circular interpolation with absolute coordinates,
- *1
Method interpolation set「Relative, Circular interpolation」on main
Operating
Singular, End - Set the method to execute circular interpolation
Method
Goal
position[pls]
Operating Use connecting speed designation method for circular
1000 -
speed[pls/s] interpolation. Set connecting speed on main-axis
M code 0 -
with circular interpolation
Axis2 -
Auxiliary
7000 - Set the radius on main-axis
point
Circular Radius, If use middle-point-designation method, set「Middle-point」on
-
interpolation CW, Arc<180° main-axis
The No. of
- - Set the no. of turns of arc for making a circle bigger than 360°
Turns
Helical Not use - When using circular interpolation, set it to「Not use」

Chapter 9 Functions
Note
(1) Circular interpolation control of Radius designation method is executed on the basis of the items set on operating data.
When it is executed, only「Goal position」can affect circular interpolation. In other words, whatever value is set as, it does not
affect the action and no errors arise.
(2) When setting the circular interpolating auxiliary point (radius) of main-axis, it must be bigger than the half of the length
between starting position and goal position. If it is smaller than the half(R) and the value is higher than 80% of R, circular
interpolation which has middle point between starting position and goal position as center-point is executed. If it is smaller than
the half(R) and the value is lower than 80% of R, error (error code:270) arises and circular interpolation is not executed.
[Example] Axis1 is main-axis and Axis2 is sub-axis. Execute circular interpolation with relative coordinates and
designated radius.
■ Starting position (1000, 1000), Goal position (8000, 0), Auxiliary point (5000, 0)
Moving direction of arc : CCW, Size of arc : Arc >= 180°
The action is as follows in the condition above
▪ Main-axis(Axis1) Operating data
Step Operation Acc. Dec. M Dwell Sub-axis Auxiliary Helical
Control method position speed interpolation of
No. Method No, No, Code Time Setting Point interpolation
[pls] [pls/s] mode turns
Relative, Circular Radius, CCW,
1 Singular, End 8000 1000 No.1 No.1 0 100 Axis2 5000 0 Not use
interpolation Arc>=180
▪ Sub-axis(Axis2) Operating data
Step Operation Acc. Dec. M Dwell Sub-axis Auxiliary Helical
Control method position speed interpolation of
No. Method No, No, Code Time Setting Point interpolation
[pls] [pls/s] mode turns
Absolute, single
1 axis position Singular, End 1000 0 No.1 No.1 0 100 Axis2 0 Middle point 0 Not use
control
Sub-axis
Forward
Starting position Radius Moving amount of sub-

(1000,1000) =5000 axis’ goal position
Goal position
(9000,1000) =0
1000
Main-axis Main-axis
Reverse 0 Forward
1000 5000 9000
-1000
Degree of arc>=180°
-2000
Center-point
Moving amount of main-axis’ goal position=8000
「CCW, Arc>=180°」
action
Sub-axis
Reverse

Chapter 9 Functions
9.2.12 Helical Interpolation Control

After executed by positioning operation start command (Indirect, Synchronous), 2 axes move along the circular arc, an axis
execute linear interpolation synchronizing with circular interpolation.
It may execute helical interpolation of bigger scale than 360°
Combinations of axis to use are not limited and 3 axes are used among axis1~axis6. (XEMH is 2axis, cannot use helical
interporlation)
(1) Characteristics of control

(a) After setting operating data to circular interpolation, then set a helical interpolation axis on the item “Helical interpolation”,
the helical interpolation will be executed.
(b) The direction of circular arc depends on the goal position and the mode of circular interpolation, the direction of helical
axis depends on the coordinates setting and the goal position.
■ The case of「Absolute, Circular interpolation」
Starting position < Goal position : Positioning operation in forward direction
Starting position > Goal position : Positioning operation in reverse direction
■ The case of「Relative, Circular interpolation」
Positive sign (+) or No sign : Positioning operation in forward direction
Negative sign (-) : Positioning operation in reverse direction
Goal Position Helical interpolation

(x2, y2, z2)
Linear interpolation part
Center
Starting position
X (x1, y1, z1)
Circular interpolation part
(2) Restrictions
(a) The restrictions of helical interpolation are same as various kinds of circular interpolation depending on the mode of
circular interpolation.
(b) If user sets「Helical Interpolation」to “Not use”, it will be same as the action of circular interpolation.
(c) If user sets the goal position of helical interpolation axis to the same starting position, it will be same as the action of
circular interpolation.

Chapter 9 Functions
Note
If executing helical interpolation, 3 axes will operate at the same time. Need user to pay attention.
(1) Auxiliary operations may be used are as follows.
▪ Speed override, Dec. stop, Emergent stop, Skip operation.
(2) The commands may not be used in circular interpolating operation are as follows.
(3) The parameter items operating by standards of each axis are as follows.
▪ Amount of backlash revision in extended parameter items, Software high limit, Software low limit
(3) Example of operation data setting

Sub Helical
Main axis(axis1)
Items axis(axis2) axis(axis3) Description
Setting
Setting setting
Control Absolute, Circular Circular interpolation must be set when executing
- *1 - *1
method interpolation helical interpolation
Operation
Singular, End - - Set operation method for helical interpolation
method
Goal Set the goal position on main, sub, helical axis for
10000 0 10000
position[pls] executing positioning.
Operation Helical interpolation designates composition speed
1000 - -
speed[pls/s] of circular interpolation part
Acc. no. No.1 - - Set acc. time no. used in acceleration (no.1 ~ no.4)
Dec. no No.2 - - Set dec. time no. used in deceleration (no.1 ~ no.4)
Set it when user needs to synchronize another
M code 0 - -
auxiliary operation with helical interpolation.
Set dwell time(ms) for outputting positioning
Dwell time 500 - -
complete signal
Sub axis Set an axis to be used as sub axis from settable
Axis2 - -
setting axis on main axis operation data
Auxiliary point
of Circular 5000 5000 - Set auxiliary data of circular interpolation action
interpolation
Circular
Set circular interpolation mode to be used in circular
interpolation Middle point - -
action of helical interpolation
mode
No. of turn of Set the no. of turn of circular arc when user need to
circular 0 - - execute helical interpolation of bigger degree than
interpolation 360°
Helical Set an axis to be used as helical interpolation axis
Axis3 - -
interpolation from settable axis on main axis operation data
- *1 : This item does not need to be set. Whatever it is set as, it dose not affect circular interpolation.
Note
Helical interpolation control is executed on the item basis set on operation data of main axis.
When executing circular interpolation of helical interpolation, only “Goal position”, “Auxiliary point of circular interpolation”
items of sub axis setting and “Goal position” item of helical axis setting affect helical interpolation. In other words,
Whatever the setting value is, it does not affect operation and cause any errors.

Chapter 9 Functions
[Example] Execute helical interpolation of absolute coordinates, center point designating method and axis1, axis2,
axis3 are main, sub, helical axis.
■ The action in the case (Starting point (650, 400, 0), Goal position (400, 1200, 350), Auxiliary point (800, 400)) is as
follows.
▪ Operation data of main axis(axis1)
No. of
Goal Operating Auxiliary point of Circular turn of Helical
Step Control Operating Acc. Dec. Dwell Sub axis
position speed M code circular interpolation circular interpolati
no. method method no. no. time setting
[pls] [pls/s] interpolation mode interpolati on
on
Absolute,
Middle
1 circular Singular, End 400 1000 No.1 No.1 0 100 Axis2 800 0 Axis3
point,CCW
interpolation
▪ Operation data of sub axis(axis2)
No. of
on
Absolute,
single axis
1 Singular, End 1200 0 No.1 No.1 0 100 - 400 Middle point 0 Not use
position
control
▪ Operation data of sub axis(axis2)
No. of
on
Absolute,
single axis
1 Singular, End 350 0 No.1 No.1 0 100 - 0 Middle point 0 Not use
position
control
400
300
Goal position
(400,1200,350)
100 400 800 1200

0 Y
Center point
(800,400) Linear interpolation part
400
600
700
Starting position
Helical interpolation action
(650,400,0)
Circular interpolation part
X

Chapter 9 Functions
9.2.13 Ellipse Interpolation Control

Execute ellipse interpolation at ellipse rate and the moving angle of circular interpolation operating data and ellipse
interpolation command.
Combinations of axis to be used in ellipse interpolation control are unlimited and 2 axes from axis1~4 are used.
(1) Characteristics of Control

(a) Ellipse interpolation is set with circular interpolation of center-designated method and the rate and size of ellipse is set with
auxiliary data of “ellipse interpolation command”
Setting
Auxiliary data Description
value
Set the ratio of horizontal axis and vertical axis with the ratio to the circle
Ratio of ellipse (%) 0 ~ 65535
(1 = 0.01%)
Size(Degree) of Set the degree of ellipse’s movement
0 ~ 65535
ellipse (1 = 0.1°)
(b) Moving direction of ellipse is decided by the direction set on “circular interpolation mode” of operation data.
▪「Center point, CW」- Execute ellipse interpolation in clockwise.
▪「Center point, CCW」- Execute ellipse interpolation in counterclockwise.
Sub axis
Forward
Rate:100%, Size:180°
Ellipse interpolation
150%
100%
Starting position 50%

= Goal position
Center point
Rate:50%, Size:90°
Main
Main axis
axis
Forward
Reverse Rate:150%, Size:360°
? ? Ellipse interpolation
Sub axis
Reverse
(c) Starting position and goal position must be same when executing ellipse interpolation.
(d) When executing ellipse interpolation, the radius changes continuously and composing speed also changes depending on

Chapter 9 Functions
the ratio of ellipse. When the ratio of ellipse is bigger than 100%, operating speed of sub axis and composing speed get
faster. So it calls user’s attention. Sub axis of ellipse interpolation is not limited by “speed limit”, so user must set operating
speed below limit.
Ratio of ellipse < 100% Ratio of ellipse > 100%
Sub-axis Sub-axis
Forward Forward Ratio:150%,Size:180°
Ratio:50%,Size:180°
150%
50%
Center point Center point

Starting position Starting position
= Goal position = Goal position Main-axis
Main-axis
Forward Forward
원점
Composing speed Composing speed Faster Slower
Slower
Faster
Speed set Speed set
Time Time
(2) Restrictions
(a) Ellipse interpolation may not be executed in the case below.
▪「Sub-axis setting」Error (error code : 547)
- The value of sub-axis setting of main axis operating data is “Axis-undecided”.
- The value of sub-axis setting of main axis operating data is set equally to the no. of main-axis.
- The value of sub-axis setting of main axis operating data is set wrongly. (Exceeding settable axis no.)
- An axis of helical interpolation is set.
▪ The center point designated as auxiliary point is the same as starting position or goal position.
(error code : 553)
▪ The radius of circular arc that calculated exceeds 2147483647pls. (error code : 554)
▪ The operating method is “continuous” or “go on”. (error code : 556)
If user executes ellipse interpolation, End operation must be set before use.
▪ Staring position and Goal position are different. (error code : 558)
▪ Size of circular arc (Moving degree) is 0. (error code : 559)
Note

Chapter 9 Functions
Need user to heed the synchronous operation of 2 axes in ellipse interpolation start.
1. Auxiliary operations available are as follows.
▪ Speed override, Dec. stop, Emergent stop, Skip operation
2. The commands unavailable in ellipse interpolating operation are as follows.
3. Parameter items of each axis on setting value basis are as follows.
▪ Backlash revision of extended parameter, Software high limit, Software low limit
(3) Setting example of operation data

Control Absolute, Circular
- *1 Set circular interpolation when executing ellipse interpolation
Method interpolation
Operating
Singular, End - “End” must be set in ellipse interpolation
Method
Goal
position[pls]
Operating Designate composing speed for circular interpolation part in
1000 -
speed[pls/s] ellipse interpolation
M code 0 -
with ellipse interpolation
Axis2 -
Auxiliary
5000 5000 Set the center point of ellipse
point
Circular
Center point, CW - Must be set center point when using ellipse interpolation
interpolation
The No. of
- - The no. of turn is not operated in ellipse interpolation
Turns
Helical Not use - Set axis of helical interpolation as “Not Use” in ellipse interpolation
Note
Ellipse interpolation control is executed by the standard set on operating data of main-axis.
When executing ellipse interpolation, only「Goal position」and「Auxiliary point of circular interpolation」affect the
operation of ellipse interpolation. In other words, whatever value is set to, it does not affect operation and no errors arise.

Chapter 9 Functions
[Example] Execute ellipse interpolation with 20% of ellipse ratio, 360°of movement degree and relative coordinates
■ Starting position (100, 100),
Setting of goal position : (0, 0)
Setting of auxiliary point : (500, 200)
Direction of operation : CW
■ Example setting in XG-PM

▪ Operation data of Main-axis(axis1)
Goal Operating Auxiliary point of Circular
Step Operating Acc. Dec. M Dwell Setting The no. of Helical
Control method position speed circular interpolation
no. method No. No. code Time Sub axis turns interpolation
[pls] [pls/s] interpolation mode
Relative, circular
1 Singular, End 0 1000 No.1 No.1 0 100 Axis2 800 Center,CW 0 Not use
interpolation
▪ Operation data of Sub-axis(axis2)
Goal Operating Auxiliary point of Circular
Step Operating Acc. Dec. M Dwell Setting The no. of Helical
Control method position speed circular interpolation
no. method No. No. code Time Sub axis turns interpolation
[pls] [pls/s] interpolation mode
1 Singular, End 0 0 No.1 No.1 0 0 Undecided 400 Middle point 0 Not use
position control
■ Operating data
Sub-axis
Forward
500
Starting position
= Goal position 20%
300 Center point
Movement of
center point
Rate:20%,Size:360°
= 200
100 Ellipse interpolation
Main-axis Main-axis
Reverse 1100 Forward
100 600
Sub-axis Movement of center point
Reverse = 500
Note
(1) If the degree of ellipse is not 360°, the goal position and actual position after stop operating are not same.
(2) If the ratio of ellipse is 0%, the trace of ellipse interpolation is shown as straight line. Ratio of ellipse need to be set to
above 0.

Chapter 9 Functions
9.2.14 Speed/Position Switching Control

The setting axis by positioning start carries out the speed control and is switched from speed control to position control
when speed/position switching signal is entered to the positioning module inside or outside, and then carries out the
positioning as much as goal transfer amount.

(a) Set control method of operating data as “Single axis speed control” and executing positioning with「Speed/Position
Switching」in speed control operation.
(b) Direction of movement depends on the sign of value.
■ Forward : The position value is Positive(+)
■ Reverse : The position value is Negative(-)
(c) For using「External speed/position switching control」, “External speed/position switching control” must be set as ‘1 :
Allowed’
Item Setting value Description
Executes the positioning at the incremented position by
0 : Absolute the value set at the position where the speed / position
External speed/position switching command was executed.
switching control
The set position value is regarded as an absolute position
1 : Relative
and the positioning is executed at the set absolute position
(d) In speed/position switching control, the value of coordinates has no affection. In other words, actions of “Absolute, Single
axis speed control” and “Relative, Single axis speed control” are same.
(2) Operation timing
Speed Acc. area Designated moving amount

Speed control Position control
Speed set
Dwell Time
Time
ON
Start command
ON
In operation
ON
Positioning
complete
ON
External
speed/position
switching signal
Internal ON
speed/position
switching
command

Chapter 9 Functions
(3) Restrictions
(a) Operation pattern of speed control has to be set as “End” or “Go on”. If “Continuous” is set as, error (error code:236)
arises and speed control may not be executed.
(b) If the value of goal position is 0, speed/position switching command may not be executed. In this case, it continues to
operate with speed control.

Control method When executing speed/position switching control, set single axis speed control
speed control
Operating method Singular, End When executing speed/position switching control, set “end” or “continuous”
Goal position
10000 After inputting speed/position switching control, set moving amount to position.
[pls]
Operating speed
1000 Set the operating speed of speed/position switching control
[pls/s]
Acc. no. No1 Set acc. no. used in acceleration (no.1~4)
Dec. no. No.2 Set dec. no. used in deceleration (no.1~4)

Set it when user needs to execute another auxiliary work synchronizing with
M code 0
speed/position switching control
Set dwell time(ms) between switching command’s inputting and positioning
Dwell time 500
completion’s outputting

Chapter 9 Functions
9.2.15 Position specified Speed/Position Switching Control

The setting axis by positioning start carries out the speed control and is switched from speed control to position control
when speed/position switching signal is entered to the positioning module, and then carries out the positioning by transfer
amount.

(a) Set control method of operating data as “Single axis speed control” and execute 「Speed/Position Switching」in
speed control operation.
(b) Set the speed/position switching coordinate

Operates as relative coordinates from the position at command
speed/position 0 : Relative
executed.
switching coordinate
1 : Absolute Operates as absolute coordinates regardless of executed position..
(c) In speed/position switching control, the value of coordinates has no affection. In other words, actions of “Absolute,
single axis speed control” and “Relative, single axis speed control” are same.
(d) In Position specified speed/position control, a target position set in the operation data or direct start is
ignored and it moves according to target position operand of 「Position specified speed/position switching
control」 command

Chapter 9 Functions
(3) Restrictions
(a) Operation pattern of speed control has to be set as “End” or “Go on”. If “Continuous” is set as, error (error code:236)
arises and speed control may not be executed.
(b) If the value of goal position is 0, position specified speed/position switching command may not be executed. In this case,
it continues to operate with speed control.

Control method When executing speed/position switching control, set single axis speed control
speed control
Operating method Singular, End When executing speed/position switching control, set “end” or “continuous”
Goal position
10000 After inputting speed/position switching control, set moving amount to position.
[pls]
Operating speed
1000 Set the operating speed of speed/position switching control
[pls/s]
Acc. no. No1 Set acc. no. used in acceleration (no.1~4)

Set it when user needs to execute another auxiliary work synchronizing with
M code 0
speed/position switching control
Set dwell time(ms) between switching command’s inputting and positioning
Dwell time 500
completion’s outputting

Chapter 9 Functions
9.2.16 Position/Speed Switching Control

The setting axis by positioning start carries out the position control and is switched from position control to speed control
when position/speed switching signal is entered to the positioning module inside, and then it stops by deceleration stop or
SKIP operation or continues next operation.

(a) Set control method of operating data as “Single axis position control” and user may change position control to speed
control with「Speed/Position Switching」
(b) Direction of movement depends on the sign of value and coordinates
■ 「Absolute, Single axis position control」
▪ Starting position < Goal position : Positioning in forward direction
▪ Starting position > Goal position : Positioning in reverse direction
■ 「Relative, Single axis position control」
▪ The value of goal position has positive sign (+) : Positioning in forward direction
▪ The value of goal position has negative sign (-) : Positioning in reverse direction
(2) Operating timing
Speed
Acc. area
Position control Speed control
Speed set
Time
ON
Start
command
ON
In operation
Positioning
complete
Position/Spee ON
d switching
command
ON
Dec. stop
command

Chapter 9 Functions
(3) Restrictions
(a) Position/speed switching command is not inputted before positioning to the goal position, it stops by deceleration and
finishes the positioning.
(b) After position/speed switching, software high/low limit check depends on “Soft high/low limit in speed control” of extended
parameter.
0 : Not detect Not to execute checking for software high/low limit in speed control
Soft high/low
in speed control
1 : Detect Execute checking for software high/low limit in speed control

Absolute, Single axis When executing position/speed switching control, set single axis speed
Control method
speed control control
Operating method Singular, End Set operating method for position control
Goal position
10000 Set the value of goal position for position control
[pls]
Operating speed
1000 Set the operating speed of position/speed switching control
[pls/s]
Acc. no. No.1 Set acc. no. used in acceleration (no.1~4)

Set it when user needs to execute another auxiliary work synchronizing
M code 0
with speed/position switching control
When it is executed with position control and without position/speed
Dwell time 500 switching command, set dwell time between positioning and complete
signal’s outputting.

Chapter 9 Functions
9.2.17 Start of Positioning

In case of stop in action of dynamic positioning, can positioning by restart. Three Starting types are general start,
Simultaneous start, point operation. Operating signal is have to “OFF”, when it start.
(1) Direct start

(a) Do not use operating data, directly input positioning data by auxiliary data and perform positioning control.
(b) Setting auxiliary data of direct start.
Target position Set target position of control.
Operating speed Set operating speed of control.
Dwell time Set dwell time (ms) that it is from positioning to outputting signal of positioning. (0~65535)
M code Set for performing auxiliary action which is depending on set control.(0~65535)
Acceleration time
Set acceleration time number for acceleration. (No.1 ~ No.4)
No.
Reduction time
Set reduction time number for reduction. (No.1 ~ No.4)
No.
Coordinate Set coordinate about target position of set control.(absolute, relative)

When command of converting position/speed is not inputted and only operated by
positioning control, set dwell time (ms) that it is from positioning to outputting signal of
Control method positioning.
(0:Positioning, 1:Speed control, 2:Feed control)
Note
Direct start only can use when it is shortened operation. In case that Interpolation operation, use indirect starts.
(2) Indirect Start

(a) Start control of positioning by designating step number of operation data which was saved in positioning module.
(b) Setting auxiliary data of indirect start
Operation step Set step number of operation data what you need operating.(0 or 1 ~ 400)
Note
Set ‘O’ operation step of Indirect start and carry out command of indirect start. And then start operation data which
was saved in step number.

Chapter 9 Functions
(3) Simultaneous start

(a) According to axis information and setting step, Simultaneous start positioning operation data of axis 2 ~ axis 6.
(b) When Input stop command, only it decelerates and stops on the corresponding axis. In case of Simultaneous start
setting step number is current operating step number. Input start command, and then according to relative coordinate
and absolute coordinate, operate positioning.
(c) Condition
In these cases can not operate all of the axes which were set simultaneous start by error.
▪ When occurred error in over an axis among setting axes of simultaneous start. (Output error code in its axis.)
▪ When command axis of simultaneous start was wrong. (Error code : 296)
- Only set command axis (Set over 2 axes is necessary.)
- In case of exceeding number of possible setting axis of current using module among the possible setting axes
[ Example ] Set Simultaneous start of axis 1, axis 2, axis 3 is as follows;

■ Current position of axis 1: 0, Operation step: 1
Current position of axis 2: 0, Operation step: 3
Current position of axis 3: 0, Operation step: 10

▪ Operation data of axis 1
Operation Target position Operation speed Acceleration Deceleration
Step No. Control method M code Dwell time
method [pls] [pls/s] No. No.
Absolute, Shorten Single,
1 1000 1000 1 1 0 0
position control Continuous
Absolute, Shorten
2 Single, End 1800 800 1 1 0 100
position control

Absolute, Shorten
3 Single, End 900 500 2 2 0 0
position control

Absolute, Shorten
10 Single, End 1000 300 3 3 0 100
speed control

Chapter 9 Functions
Speed
Operation step No. of Axis 1 : 1

1000
800
Only its axis

500 decelerate and stop

300
Dwell time
=100ms
Time
ON
Command of
Simultaneous start
ON
Operating Axis 1
ON
Operating Axis 2
ON
Operating Axis 3
ON
Deceleration stop
command (Axis 3)
ON
Signal of finishing
positioning axis 1
ON
Signal of finishing
positioning axis 2
Signal of finishing
positioning axis 3

Chapter 9 Functions
(4) Point operation

(a) Point maneuvering is a positioning drive also called ptp drive. Which processes the sequential data of user
defined steps in order
(b) It can be appointed 20 steps by point operation.
(c) Start point maneuvers as much as the number of set points from setting step (point1), irrespective of end,
continue, automatic operation mode.
[ Example ] Point operation of axis 1 is as follows;

■ The number of point operation: 4
Point operation step No. : 1, 2, 10, 20
Current position of Axis 1 : 0
Operation Target position Operation speed Acceleratio Deceleratio
method [pls] [pls/s] n No. n No.
Absolute, Shorten Singleness,
1 1000 1000 1 1 0 20
position control End
2 3000 2000 1 1 0 20

10 6000 3000 1 1 0 20
position control Keep
11 10000 4000 1 1 0 20
12 15000 5000 1 1 0 20
13 25000 6000 1 1 0 20

20 45000 7000 1 1 0 0
position control Continue
21 75000 8000 1 1 0 0
position control continue
22 0 9000 1 1 0 0

Chapter 9 Functions
9.2.18 Positioning stop

Here describes factor which are stop axis during operation.
(1) Stop command and Stop factor
Command & Stop factor of stop positioning operating is as follows;
(a) It will stop, when stop command is “On” or there are some stop factors at each axis. But, interpolation control (linear
interpolation, Circular interpolation, helical interpolation, elliptic interpolation)
In case of there is stop command or stop factor on main axis, operation axes of interpolation control will stop.
Speed M code On
Status Positioning Jog Status of Axis
Homing*2 synchronous Status of
Stop factor *1 Operation after stop
Cam control signal
Exceed soft
Parameter Prompt stop No Detection Prompt stop *5 Error (Error501) No change
high-limit
setting
*3 Exceed soft
Prompt stop No Detection Prompt stop Error (Error502) No change
low-limit
Error 322
Deceleration Deceleration Deceleration Deceleration*6
Sequence (Keep Stop On No change
stop command stop stop stop
program operation)
*4
Emergency
Sudden stop Error (Error481) “Off”
stop command
When
External high- operate to
Sudden stop Sudden stop*7 Error (Error492) No change
limit “On” forward,
External sudden stop
signal When
External low- operate to
Sudden stop Sudden stop Error (Error493) No change
limit “On” reverse,
sudden stop
Error322
Deceleration Deceleration Deceleration Deceleration
(Keep Stop “On” No change
stop command stop stop stop
XG-PM operation)
Software
Emergency
Sudden stop Stop “On” “Off”
stop command
Note
*1 : Positioning means position control, speed control, interpolation control, speed/position switching control, position/speed switching
control, position/torque control by positioning data.
*2 : When complete homing, approximate origin and HOME signal do not effect to positioning control.
*3 : Only work while software high/low limit on the speed control of expansion parameter at the speed control operation mode is set
“1:detection”
*4 : Sequence program means XGT program type.
*5 : Output speed become “0”, when it has factor of stop.
*6 : Speed goes to "0" while the deceleration stop time of deceleration stop command support data decelerates as a set time.
*7 : Speed goes to “0” decelerate by set time as「sudden stop, deceleration」of parameter.

Chapter 9 Functions
(2) Deceleration Stop

(a) If meet emergency stop while operate indirect start, direct start, simultaneous start, start operation, homing operation,
inching operation, it will sudden stop.
(b) Deceleration stop command not different at these sections: acceleration section, constant section, deceleration section.
(c) If it is decelerated and stopped by deceleration stop command, will not be completed positioning operation as set target
position. And….
▪ No signal for completely positioning
▪ M code signal cannot be “On” during “After” mode of “M code” mode.
(d) If it receives order for indirect start command (step No. = current step No.) while it is stop,
▪ Positioning of absolute coordinate method: Operate amount of the position reminder which it isn’t outputted on the
current operation step.
▪ Positioning of relative coordinate method: Operate as set movement at the target position.
(e) There are two type of deceleration stop: Internal/external deceleration stop.
▪ Internal deceleration stop command
It decelerate and stop by XG-PM and「deceleration stop」command of sequence program as set support data.
▪ External deceleration stop signal
In case of input signal of external emergency stop/deceleration stop to be “On”, it will be decelerated and stopped by set
deceleration time in current positioning operation.
Have to set item of “select external emergency stop/deceleration stop” of expansion parameter for using input signal of
external emergency stop/deceleration stop as external deceleration stop command.
Item Setting value Contents
0: Emergency stop Use as “emergency stop” signal when input external signal.
Select external emergency
stop/ deceleration stop
1: Deceleration stop Use as “deceleration stop” signal when input external signal.
(f) Condition
▪ When command internal deceleration stop
The value of deceleration time can bigger than set value of deceleration time by auxiliary data.
▪ If deceleration stop command is inputted while operate Jog, error (error code: 322) will be made. Use “Stop Jog”
command for Jog operation stop.
(g) Movement Time

Chapter 9 Functions
Internal deceleration stop command External stop command
Speed Speed
Speed limit Deceleration stop Speed limit

Setting as deceleration time Setting
of deceleration stop Deceleration stop
speed command speed as setted time
Time Time
Deceleration time
of command
Deceleration of
Deceleration of
ON ON current operation
current operation
Start Start
command command
ON ON
Operating Operating
Completer
Complep
positioning
ON ON
Internal
deceleration external atop
stop command command
■ If the deceleration distance is longer than distance to target position when input deceleration stop command during
positioning control operation, it will be stopped at the target position.
Speed
Normal operation pattern
Immediate stop at the

target position
Position
Stop position
ON Target position
by deceleration
Start command stop
ON
Operating
ON
Deceration stop
command

Chapter 9 Functions
(3) Emergency Stop

(a) It will be decelerated, stopped and occurred error as set time in「deceleration time when it is suddenly stopped」during
indirect start, direct start, start at the same time, synch. operation, homing operation, jog operation, inching operation,
when it be emergency stopped during operation.
(b) In case of internal emergency stop, error 481 will occur and in case of external emergency stop, error 491 will occur.
(c) M code signal will be “Off” after Emergency stop.
(d) Internal emergency stop command
To be decelerated and stopped by「emergency stop」command of XG-PM & Sequence program as set time in
「deceleration time when it is suddenly stopped」, and error will be occurred.
■ Setting related parameter (Basic parameter)
Set deceleration time for using when detect hardware high/low
When sudden stop,
0 ~ 2147483647 [ms] limit signal. Deceleration time express needed time for
deceleration time
deceleration as bias speed at speed limit, when suddenly stop.
(e) Motion timing
Speed
Setting speed
Decelerate and stop
as deceleration time
when sudden stop
Time
ON
Start command
ON
Operating
Signal of complete
positioning
ON
M code ON
(With mode)
ON
Internal or External
emergency stop

Chapter 9 Functions
(4) Stop hardware by high/low limit

(a) When positioning control, if the signal of hardware high/low limit is inputted, then stop positioning control and it will be
decelerated and stopped as set time at「deceleration time when it is suddenly stopped」, and error will be occurred.
(b) In case of external input stroke high limit error, error 492 will occur and in case of external input stroke low limit error, error
493 will occur.
■ Setting related parameter (basic parameter)

Set deceleration time for using when detect hardware high/low
When sudden stop,
0 ~ 2147483647 [ms] limit signal. Deceleration time express needed time for
deceleration time
deceleration as bias speed at speed limit, when suddenly stop.
(c) Motion timing
Seed
Setting speed
Decelerate and stop
as deceleration time
when sudden stop
Time
ON
Start command
ON
Operating
Signal of complete
positioning
ON
Input external
stroke high/low limit

Chapter 9 Functions
(5) Stop by software high/limit

(a) When positioning control, if value of current command position out of set value of expansion parameter in「software high
limit」and「software low limit」, it will promptly be stopped without outputting value of command position.
(b) If value of command position to be out of software high limit range, will occur error 501, and if it to be out of software low
limit range, will occur error 502.
■ Setting related parameter (expansion parameter)

Software high limit -2147483648 ~ 2147483647 Set position of software high limit.
Software low limit -2147483648 ~ 2147483647 Set position of software low limit.
(c) Condition
Software high/low limit not to be checked in the following case:
• In case of setting Software high/low limits as maximum (2147483647), minimum (-2147483648)
• In case of “Software high limit = Software low limit”
(d) Motion timing
Prompt stop
Position
Software low limit ON

Software high limit
Start command
ON
Operating
Signal of complete positioning

Chapter 9 Functions
(6) The priority of stop process

The priority of stop process of positioning module is as follows:
Deceleration stop < Sudden stop
When encounter factor of sudden stop in deceleration stop of positioning, it will be suddenly stopped. In case of sudden
top deceleration time bigger than deceleration stop time, it will be decelerated and stopped as set deceleration stop time.
Note
Process is as follows, when factor of sudden stop is occurred during deceleration stop.
Positioning speed Deceleration stop factor generation.
Sudden stop factor generation
Stop position by
deceleration stop factor
Software
high limit
ON
Deceleration
stop command
ON
Emergency stop
command
The factor of sudden stop : Emergency stop command or software high/low limit

Chapter 9 Functions
(7) Stop command under interpolation operation

(a) If encounters stop command during interpolation operation (linear interpolation, circular interpolation, helical interpolation,
elliptic interpolation), it carries out the deceleration stop. It depends on the trace of wheels of origin.
(b) When it restarts after deceleration stop, indirect start command carries out operation to target position of positioning. And
then, operation depends on absolute coordinate and relative coordinate.
(c) Stop command during interpolation operation can external/internal deceleration stop.
(d) Deceleration stop command should be progressed at main axis which is operating for interpolation.
(e) Operation pattern
Forward of the axis Decelerate and

of ordinates stop as the trace
of the wheels
of circular
Starting Target
point point
Forward of
main axis
Composition
speed
Setting
Deceleration stop
speed
as setted
deceleration time.
Time
ON
Starting
command
ON
Be operating
main axis
Be operating ON
the axis of
ordinates
ON
Internal
deceleration
stop command
(8) Restart after Positioning stop

(a) Deceleration stop
When indirect start after deceleration stop, operate positioning as set operation step.
In case of using with mode, Signal “On” of M code has to “Off” for restart.
Signal On of M code have to be changed “Off” by「Cancellation M code (XMOF)」command.
(b) Restart after Internal/External emergency stop
In case of emergency stop, signal On of M code will automatically be “Off”, therefore can operate positioning as set
operation step, when it operate indirect start.

Chapter 9 Functions
9.3 Manual Operation Control

Manual control is a function that execute random positioning according to user’s demand without operation data
Manual operations include Jog operation, Manual pulse generator operation, inching operation, previous position movement
of manual operation etc.
9.3.1 Jog Operation
(1) Characteristic of Control

(a) Jog Operation is
▪Execute positioning control at jog high/low speed depending on the signal of high/low speed during forward/reverse jog
start signal is being ON.
▪Positioning is started by Jog command from the state that the origin is determined. The value of positioning stars changing,
user can monitor it.
▪This is a way of manual operation that can be executed before determination of origin.
(b) Acceleration/Deceleration process and Jog speed

The acceleration/deceleration processing is controlled based on the setting time of Jog acceleration/ deceleration time
from XG-PM manual operation parameter setting.
Set the Jog speed on Jog high/low speed of XG-PM manual operation parameter setting.
If Jog speed is set out of the setting range, error will occur and the operation does not work.
■ Parameter setting (Manual Parameter)

Jog High Speed 1 ~ Speed limit Set Jog speed. Jog high speed must be set below speed limit
Jog Low Speed 1 ~ Jog High Speed Set Jog speed. Jog low speed must be set below Jog high speed
Jog Acc. Time 0 ~ 2147483647 Set the acc. Time used in acceleration of Jog operation
Jog Dec. Time 0 ~ 2147483647 Set the dec. time used in deceleration of Jog operation
Note
If “Jog Acc. Time” is 0, it operates at “Acc. Time1” of basic parameter.
If “Jog Dec. Time” is 0, it operates at “Dec. Time1” of basic parameter.

Chapter 9 Functions
Speed
Jog High Speed

Jog Jog
accelerating decelerating
Jog Low Speed
Time
ON
Forward Jog
Signal
ON
Jog low/high speed

Signal
ON
In
operation
Stopped but
not be ON
Signal of
Positioning
complete
Note
Notices for setting Jog speed are as follows.
조그 Bias Speed ≤ Jog High Speed ≤ Speed Limit
Speed
Speed Limit
Jog High Speed
Jog Low Speed
Time
(3) Restrictions
You can not execute Jog operation in the case as follows.
(a) Value of Jog High Speed exceeds the speed limit of basic parameter (Error code : 121)
(b) Value of Jog Low Speed exceeds the value of Jog high speed. (Error code : 122)

Chapter 9 Functions
(4) Jog Operation Start

Jog operation start consists of Start by XG-PM and Start by Sequence program. The start by sequence program is that
execute Jog operation with output contact of CPU.
Direction of Signal : CPU -> Positioning module

Axis
Output Signal Description
%KX6976 Axis1 Forward Jog
Axis1 %KX6977 Axis1 Reverse Jog
%KX6978 Axis1 Jog Low/High Speed

Chapter 9 Functions
[Example] Execute Jog start in the order as follows.

■ Forward Jog Low speed Operation -> Forward Jog High speed Operation -> Stop
Reverse Jog High speed Operation -> Reverse Jog Low speed Operation -> Stop
Speed
Change to Jog High Speed
Jog High Speed
Jog Low Speed Change to Jog Low Speed

Forward Jog operation
Time
Reverse Jog Operation

Jog Low Speed
Jog High Speed
ON
Forward Jog Signal
(Uxx.01.0)
ON
Reverse Jog Signal
(Uxx.01.1)
ON
Jog High/Low Speed

Signal
(Uxx.01.2)
ON
In Operation
Stop but Stop but
Positioning complete not turn ON not turn ON
signal
Note
Dec. stop command will not be executed in Jog Operation.
Jog operation will stop if turn the Jog signal of the current operating direction Off.

Chapter 9 Functions
9.3.2 Inching Operation

This is a kind of manual operation and executing positioning at the speed already set on manual operation parameter as
much as the amount of movement already set on the data of inching operation command.

(a) While the operation by ON/OFF of Jog signal is difficult in moving to the correct position as the operation starts and stops
according to the command, the inching command enables to set the desired transfer amount easily and reach the goal
point.
(b) Thus, it is available to reach the correct goal position by moving fast near the working position by Jog command and
operating the detail movement by inching command.
(c) The setting range is –2147483648 ∼2147483647 Pulse.
(d) The direction of moving depends on the amount of inching.
■ The amount is POSITIVE(+) : Positioning operation in forward direction
■ The amount is NEGATIVE(-) : Positioning operation in reverse direction
(e) Acc./Dec process and Inching speed
Use Jog acc./dec. Time of manual operation as acc./dec. time of Inching operation.
Set Jog acc./dec. time on “Jog acc./dec. time” of manual operation parameter setting of XG-PM.
Set Inching speed on “Inching speed” of manual operation parameter setting.
If inching speed is set out of the setting range, error will occur and the operation does not work.
■ Related parameter setting (Manual operation parameter)

Jog acc. Time 0 ~ 2147483647 Set the accelerating time for acceleration of Inching operation
Jog dec. Time 0 ~ 2147483647 Set the decelerating time for deceleration of Inching operation
Inching Speed 1 ~ Speed limit Set the speed of Inching operation

Chapter 9 Functions
Accelerating at Jog acc. time

Speed
Inching Speed
Decelerating at Jog
dec. time
Amount of Inching
Time
ON
Inching operation
command
ON
In operation
ON
Positioning
complete Signal

Chapter 9 Functions
9.3.3 Returning to the previous position of manual operation

This positioning control function is used to return to the position address that the positioning is completed before manual
operation when the position is changed by manual operation (Jog operation, inching operation).

(a) Direction of moving depends on the current position and the previous position of manual operation.
■ Starting position < The previous position of manual operation : Forward direction
■ Starting position < The previous position of manual operation : Reverse direction
(b) Acc./Dec. process and the speed of return

Acc./Dec. time of returning is the same as homing acc./dec. time of homing parameter.
Set acc./dec. time on homing acc./dec, time of homing parameter of XG-PM.
If returning speed is set out of the setting range, error will occur and the operation does not work.
■ Related parameter setting (Homing Parameter)

Homing speed 1 ~ Speed limit Set returning speed
Homing acc. time 0 ~ 2147483647 Set acc. time used in return
Homing dec. time 0 ~ 2147483647 Set dec. time used in return

Speed
Jog High Speed
Jog in Forward
Time
Returning to the previous
position of manual operation
Homing Low Speed
Position
Jog
Jog stop position Operation
Returning
(B)
Positioning
complete position
(A) Time
ON
Forward Jog Signal

ON
Returning command
ON
In operation
ON
Positioning
complete Signal
If value of the current position is “A” after positioning control operation and the positioning value changed by Jog operation is
“B”, execute positioning to “A” when executing the returning to the previous position of manual operation.

Chapter 9 Functions
9.4 Synchronous Control

This is the command that control the operation synchronizing with the main axis or operating of encoder.
9.4.1 Speed Synchronous Control

This is the command that synchronize with sub axis in speed and control operation depending on speed synchronous rate
already set when main axis starts.

(a) Start and Stop is repeated depending on operating of main axis after execution of speed synchronous command. The
operating direction of sub axis and the main’s are same.
SubAxis
(b) The operating direction of sub axis depends on the ratio of speed sync. ( ) . If it is positive, the direction is
MainAxis
forward. If it is negative, the direction is reverse.
(c) If execute speed sync. command, it will be the state of operating and remain in the state of speed sync. operation before
release of speed sync. command.
(d) Auxiliary data of speed sync. command
The auxiliary data used in speed sync. command is as follows.
1(axis1) ~ 6(axis6),
Main Axis Set the main axis of speed sync.
9~12(Encoder1~4)
Ratio of Main axis -32768 ~ 32767 Set the ratio of main axis at speed sync. ratio.
Ratio of Sub axis -32768 ~ 32767 Set the ratio of sub axis at speed sync. ratio..
Ratio of Speed sync. is calculated as follows.
SubAxis
Ratio 
MainAxis
It is possible to set like “Ratio of Main axis(Absolute) < Ratio of Sub axis(Absolute)” at setting ratio of speed sync.
Operating speed of sub axis is calculated as follows.

Operaing speed of SubAxis  Operating Speed of MainAxis  Ratio of speed sync.
Ratio of SubAxis
 Operating Speed of MianAxis 
Ratio of MainAxis
(e) Modifying the ratio of speed sync. in operation is available.
When modify the ratio, if there is too big gap between the former ratio and the current ratio, the machine is possible to be
damaged.

Chapter 9 Functions
Speed
Speed of Ratio of Main Axis : m

Main Axis
Speed of Ratio of Sub Axis : n
Sub Axis
Time
ON
Main axis start
command
ON
Sub axis speed
sync. command
ON
Main axis in
operation
ON
Sub axis in
operation
ON
Positioning
complete signal
of Main axis
Stop but
Positioning
not turn ON
complete signal
of Sub axis
ON
Sub axis stop
(3) Restrictions
You can not execute Jog operation in the case as follows.
(a) If speed sync. is executed in being On of M code signal, error (code:353) arises. Make M code “off” with M code release
command (XMOF) before use.
(b) In the case that the axis set as main axis is not the axis can be set or the case that the setting of main axis is the same as
the setting of command axis, error (code”355) arises. Set the main axis among the axis available to be set.
(c) If the speed of main axis exceeds the speed limit, error (code:357) arises. In the case, the speed of main axis has to be
down below the speed limit.
In the case that the speed of main axis exceeds the speed limit, error arises and it decelerate in “Dec. time of
emergent stop”.
Note
If master axis is encoder, input frequency can be recognized as 1000pps even though the actual input speed is
lower than 1000pps. In this case, the speed limit error can be occurs according to synchronous ratio.
Therefore, Care must be taken when master axis is encoder.

Chapter 9 Functions
[Example] axis1 is main axis, axis2 is sub axis. Operate at “ratio of main axis : ratio of sub axis = 2 : 1” at the
beginning and then execute speed sync. control changing the ratio to “ratio of main axis : ratio of sub axis =
1 : 2”
■ Example of setting in XG-PM
▪Operation data of main axis(axis1)
Operation Operating speed
Step no. Control method Goal Position [pls] Acc. no. Dec. no. M code Dwell Time
method [pls/s]
Relative, Reduction
1 Single, End 10000 2000 No. 1 No. 1 0 0
position control
Speed
Ratio of sub axis : 2
4000
Ratio of main axis : 2 Ratio of main axis : 1

2000
Ratio of sub axis : 1
1000
Time
ON
Main axis
Start command
ON ON
Sub axis
Speed sync.
command
ON
Main axis
in operation
ON
Sub axis
In operation
ON
Main axis
positioning
complete signal
Stop but
Sub axis
not turn On
positioning
complete signal
ON
Sub axis stop
command

Chapter 9 Functions
(4) Speed synchronous control with encoder

(a) Set encoder as the main axis of speed sync. and execute positioning control by ratio of speed sync. that consists of pulse
speed from encoder, ratio of main axis and ratio of sub axis.
(b) This command is used in the case that executing thorough positioning manually.
(c) After executed speed sync. command, when the pulse string is inputted, speed sync. control starts.
(d) Operate regardless of the state of origin.
(e) The pulse inputted by encoder increase of decrease the position value of encoder.
(f) The direction of moving depends on encoder pulse input mode and ratio of speed sync,
■ Encoder direction in PHASE A/B 1multiplying
- Positioning in forward direction : Input pulse of A phase is ahead of B’s
- Positioning in reverse direction : Input pulse of B phase is ahead of A’s
Ratio of SubAxis
- The operating direction of sub axis depends on Ratio of speed sync. ( ) . If it is positive,
Ratio of MainAxis
operating direction will be forward direction of encoder. If it is negative, operating direction will be reverse direction of
encoder.

Chapter 9 Functions
[Example] Execute speed sync. control with encoder (main axis), axis2(sub axis) at “the ratio of main axis : the
ratio of sub axis = 1 : 2”.
(Hypothesize that the input speed of encoder is 1Kpps)
When the direction of encoder is forward, the operating direction of sub axis is reverse. When the direction of encoder
is reverse, the operating direction of sub axis is forward.
Speed Ratio of main axis :

Ratio of sub axis = 1:2
2000
1000 Forward
Time
Reverse
-2000
Encoder phase A
… …
Input
Encoder phase B
… …
Input
ON
Speed sync.
for axis2
ON
Axis2 in
operation
Positioning Stop but not turn On

complete signal
of axis2
ON
Stop command
for axis2

Chapter 9 Functions
(5) Positioning speed sync. control

(a) The basic operation of positioning speed sync. control is similar to speed synchronization. After executing positioning
speed sync. command, start and stop are repeated depending on operation of main axis. The direction of sub axis and
the direction of main axis are same.
Ratio of SubAxis
(b) The operating direction of sub axis depends on Ratio of speed sync. ( ) . If it is positive,
Ratio of MainAxis
operating direction will be forward direction of main axis. If it is negative, operating direction will be reverse direction of
main axis.
(c) If give speed sync. command to sub axis, it will be changed to the operating state and stay at operating state until release
command.
(d) If the current position of sub axis become the goal position, it stops speed sync. and stay there. For the details, refer to
“Speed sync. control”.
(e) Auxiliary data of positioning speed sync. command.
The auxiliary data used in speed sync. is as follows.
Main axis 1(axis1) ~ 4(axis4), 9(Encoder) Set main axis
Ratio of main axis -32768 ~ 32767 Set ratio of main axis
Ratio of sub axis -32768 ~ 32767 Set ratio of sub axis
Goal position -2147483648 ~ 2147483647 Set the goal position of positioning speed sync.
(f) Operation timing
Speed
Speed of Ratio of main axis : m
main axis
Speed of Ratio of sub axis : n
sub axis
Time
Position of Sub axis starts operating
sub axis when main axis starts operating Stop when sub axis arrived
at the goal position
Goal position
Time
ON
Start command
for main axis
ON
Speed sync.
command for
sub axis
ON
Main axis
in operation
ON
Sub axis
in operation
ON
Positioning
complete signal
of main axis
Stop but not turn
Positioning
On
complete signal
of sub axis
Figure Operating Timing Chart

Chapter 9 Functions
9.4.2 Position synchronous control

Start positioning with step no. and operation data when the current position of main axis is same as the position set in
position sync.
(1) Characteristics of control

(a) Synchronous Start by Position (SSP) command is carried out only in case that the main axis is in the origin determination
state.
(b) SSP command starts by the synchronization of the subordinate axis according to the current position of the main axis.
(c) SSP carries out the SSP command at the subordinate axis.
(d) If SSP command is executed, it becomes the state in operation and the actual operation is carried out at the subordinate
axis where the current position of the main axis is the setting position of the position synchronous start.
(e) In case of cancellation after executing the SSP command at the subordinate axis, if you execute the stop command, the
SSP command shall be released.
(f) The auxiliary data of position sync. command
The auxiliary data used in position sync. is as follows.
Items Setting Value Description
Position of position
-2147483648 ~ 2147483647 Set the position of main axis in position sync. control
sync.
Set the step no. to be executed when the main axis arrives
Operation step 1 ~ 400
at the position for position sync.
1(axis1) ~ 6(axis4),
Main axis Set the main axis of position sync.
9~12 (Encoder1~4)
Note
Even though the current position of main axis and the setting value set on position sync. are not exactly same, if the
current position of main axis is at between the position of main axis of previous scan and the current position of main
axis, the sub axis will be executed with the positioning data of step no. set on operation step.

Chapter 9 Functions
Speed
Speed of
main axis
Speed of
Dwell Time
sub axis
Time
Position
Position of main axis
Position for
position sync. Time
Position of sub axis
ON
Start command
for main axis
ON
Position sync.
command for
sub axis
ON
Main axis
in operation
ON
Sub axis
in operation
ON
Main axis
positioning
complete signal
ON
Sub axis
positioning
complete signal
(3) Restrictions
Position sync. control can be executed in the case below.
(a) If position sync. command is executed in M code signal is On, error (code:343) arises. Use it after making M code “Off”
with M code release command(XMOF).
(b) If the current main axis is not the axis can be set on the current module or main axis and command axis are the same
axis, error (code:355) arises. Set the main axis among one of the axis can be set on module.

Chapter 9 Functions
[Example] Axis1 is main axis, axis2 is sub axis. The position of main axis for position sync. is 1000, execute position
sync. with operation data no.10.
■ The current position of axis1 : 0
The current position of axis2 : 0
■ Example in XG-PM
▪ Main axis (axis1) Operation data
Operating speed
Step no. Control method Operation Goal position [pls] Acc. no. Dec. no. M code Dwell time
[pls/s]
Relative, Single axis Single axis,
1 2000 1000 No. 1 No. 1 0 0
▪ Sub axis (axis2) Operation data
Operating speed
[pls/s]
Relative, Single axis Single axis,
10 2000 2000 No. 2 No. 2 0 0
Speed
Step of axis2 : 10
2000
Step of axis1 : 1
1000
0 Time
Axis2 starts
Position operating
2000
Position
of axis1
1300
Position
of axis2
0 Time
Position for
position sync.
ON
Start command
for axis1
ON
Position sync.
command for
axis2
ON
Axis1
in operation
ON
Axis2
in operation
ON
Axis1 positioning
complete signal
ON
Axis2 positioning
complete signal

Chapter 9 Functions
9.4.3 CAM Operation

CAM axis control synchronizing with the position of main motor.

(a) Replace existing mechanical work of CAM with software CAM operation
CAM data
Servo
motor
(b) You may write max. 9 CAM data blocks and apply it to each axis.
(c) Each block consists of 2048 CAM data.
(d) Auxiliary data of CAM command
Auxiliary data used in CAM command is as follows.
1(Axis1) ~ 6(Axis6), Set the main axis of CAM operation
Main Axis
9 ~ 12 (Encoder 1 ~ 4) Encoder 1 ~ 4 is using each HSC ch 0~4
1(no.1) ~ 8(no.8),
CAM block Set CAM block no.
9 (user CAM)
Main axis -2147483648 ~ Set the position of main-axis position as offset value if main-axis
offset 2147483647 reaches this position, the sub-axis starts CAM operation.
Encoder can not be used as main axis.
You may set different CAM block no. for each axis. In addition, it is possible to execute CAM operation with the same CAM
block. In order to use user CAM operation, you have to set up CAM block number as 9.
(e) You can make sub-axis start the CAM operation at the specified position of main-axis by setting the “Main axis offset”.
Main axis offset setting is available at “Offset specified CAM start command (XPM_CAMO).
(f) Create CAM data by setting CAM parameter on XG-PM to use CAM.
(g) After main axis is operated, input the calculated value per CAM block setting and point unit based on the current value per
rotation of main axis. For the detail description, refer to “(3) Principle of CAM operation”.
(h) If CAM operation is executed on sub axis, it become ‘operating status’ and keep executing CAM operation with CAM data
according to the position of main axis until stop command.

Chapter 9 Functions
(2) CAM Parameter

The table below describes the parameter items for writing CAM data.
Item Setting Range Description
Unit pulse, mm, inch, degree Set unit of main/sub axis
Main/Sub axis Transfer distance Set the transfer distance of
Depending on Unit
parameter per 1 rotation main/sub axis per 1 rotation
No. of Pulse per 1 Set no. of pulse of main/sub axis
1 ~ 200000000
rotation per 1 rotation
Control method Repeat, Increase Set CAM control method
CAM control mode Set the resolution ability of CAM
Point unit No. of pulse per 1 rotation
data
Starting position of
main axis
Ending position of
main axis Set the CAM position of sub axis
Depending on Unit
Starting position of corresponding to main axis
CAM block data
sub axis
Ending position of
sub axis
Set the curve of each CAM data
CAM curve Straight Line ~ 7th curve
step
(a) Main/Sub parameter setting

1) Unit
Set the control unit of main/sub axis. Set the same as the value already set on “Unit” of basic parameter.
Item Setting Range Remarks
Unit of
pulse, mm, inch, degree -
main axis
Unit of sub
pulse, mm, inch Degree may not be used.
axis
2) Transfer distance per 1 rotation

Set the transfer distance per 1 rotation of main/sub axis. The unit of transfer distance is according to 1).
If the unit is “mm” or “inch”, this value is the maximum last position of main/sub axis.
Transfer distance per 1 rotation is depending on unit.
■ Setting range for transfer distance per 1 rotation
Unit Setting Range Remarks
pulse - No need to set
mm 0.1 ~ 20000000.0 um The maximum last position of main/sub axis
inch 0.00001 ~ 2000.00000 inch The maximum last position of main/sub axis
No need to set
degree 360.00000 Fixed
The maximum last position of main/sub axis
3) No. of pulse per 1 rotation
Set the no. of pulse per 1rotation of main/sub axis.
If the unit is “pulse”, the value is the maximum last position of main/sub axis

Chapter 9 Functions
(b) CAM control mode setting

1) Control method
Set the form of CAM repeat pattern. “Repeat mode” and “Increase mode” may be set.
▪ Repeat (Two-way mode)
Execute round-trip motion repeatedly in the range already set from starting position of sub axis to ending position
according to the position of main axis in 1 rotation.
When CAM data is created in repeat, the ending position of the last step of sub axis user last set must be set as 0.
Position <CAM data> Position of main axis
Ending
position of
Sub axis
Time
0
Position in 1rotation
1 rotation of main axis
of main axis
Ending
position of
main axis
Time
Time
1 cycle 1 cycle 1 cycle
▪ Increase (Feed mode)

Execute CAM operation from starting position of sub axis to ending position according to the position in 1rotation of main
axis.
Position <CAM data> Position of main axis
Last
position of
sub axis
Time
0
Position in 1rotation of
1rotation of main axis main axis
Ending position of
main axis
Time
Movement
amount of
sub axis
Time
1 Cycle 1 Cycle 1 Cycle
2) Point unit

Chapter 9 Functions
Set the resolution ranging from starting position of main axis to ending position of main axis on each step data of CAM
block data setting. When CAM data is created, calculate the position of sub axis corresponding to the position of main
axis from the starting position of main axis by point unit. The smaller point unit is, the more no. of CAM data is, so you
may execute much smoother CAM operation. However, if point unit is small, no. of CAM data exceeds 2048, so there is
a chance that user can not create CAM data.
Position of sub axis <CAM data>
Ending
position of
sub axis
Point unit
Position of
0 main axis
1rotation of main axis
Note
When set CAM block data after point unit setting, “Ending position of main axis” must be set as positive multiple
number of point unit. For example, if the unit of main axis is “degree” and point unit is 10, “Ending position of main
axis” must be set as multiple number of 10 like 40, 90, 180, ···.

Chapter 9 Functions
(c) CAM block data setting

20 data sections may be set in a CAM block and every section may have specific curve.
1) Starting position of main axis
Set the starting position of main axis in designated section. Starting position of main axis is the same as the ending
position of main axis in previous section.
2) Ending position of main axis
Set ending position of main axis in designated section. The ending position of main axis in the last section must be set
as much as the transfer distance per 1rotation set on main/sub axis parameter.
3) Starting position of sub axis
Set the starting position of sub axis corresponding to the starting position of main axis in the designated section. Starting
position of sub axis is the same as the ending position of sub axis in previous section.
4) Ending position of sub axis
Set ending position of sub axis corresponding to the ending position of main axis in the designated section. If control
method is “Repeat (Two-way mode), the ending position of sub axis in the last section must be 0. If control method is
“Increase(Feed mode)”, the ending position of sub axis in the last section generally has to be set as much as the
transfer distance per 1rotation set on main/sub axis parameter.
5) CAM curve
Set CAM specific curve to create data ranging from starting position of sub axis to ending position of sub axis in the
designated section. The position of sub axis is calculated by characteristic of selected CAM curve, the position of main
axis increase by point unit at the same time.
Section2
Ending position of sub axis
Section3.CAM curve : Cycloidal
Section2
Section1
Section3 Ending position Section2.CAM curve : Straight Line
of sub axis
Point unit
Section1
Section1.CAM curve : Straight Line
Position of
0 Section1 Section2 main
Section3 axis
Ending Ending Ending
Section3 position of position of position of
Ending position main axis main axis main axis
of sub axis
Section1 Section2 Section3
Transfer distance per 1rotation of main axis
There are 22 kinds of CAM curve.

Describe characteristic of each CAM curve on next page.

Chapter 9 Functions
■ Characteristic of CAM curve

Position Speed Acc. Jerk
Name Acc. type
(Smax) (Vmax) (Amax) (Jmax)
Straight Line 1.00000 0.00000 0.00000 0.00000
Constant Acceleration 1.00000 2.00000 4.00000 0.00000
Simple Harmonic 1.00000 1.57076 4.93409 2.46735
No-Dwell Simple Harmonic 1.00000 1.57076 4.93409 2.46735
Double Harmonic 1.00000 2.04047 5.55125 0.10285
Reverse Double Harmonic 1.00000 2.04048 9.86605 4.93455
No-Dwell Modified Constant Velocity 1.00000 1.22203 7.67383 3.83881
Modified Constant Velocity 1.00000 1.27526 8.00947 0.98712
No-Dwell Modified Trapezoid 1.00000 1.71788 4.19885 2.09942
One-Dwell Modified Trapezoid 1.00000 1.91589 4.43866 55.77788
Modified Trapezoid 1.00000 1.99975 4.88812 0.30562
Asymmetrical Modified Trapezoid 1.00000 1.99982 6.11015 0.47620
One-Dwell Cycloidal 1.00000 1.75953 5.52756 0.17345
Cycloidal 1.00000 1.99985 6.28273 0.19715
Asymmetrical Cycloidal 1.00000 1.99989 7.85304 0.30783
One-Dwell Trapecloid 1.00000 1.73636 4.91007 0.30699
Reverse Trapecloid 1.00000 2.18193 6.16975 0.38579
Trapecloid 1.00000 2.18193 6.17044 0.38579
One-Dwell Modified Sine 1.00000 1.65978 5.21368 0.32603
Modified Sine 1.00000 1.75953 5.52697 0.34562
5th Curve 1.00000 1.87500 5.77350 60.00000

Chapter 9 Functions
7th Curve 1.00000 2.18750 7.51283 41.99646
(3) Principle of CAM operation

(a) When CAM operation command is executed, the current position of main axis is recognized as 0.
(b) When the main axis starts operating, “the current position in 1rotation of main axis” increase to “no. of pulse per 1rotation
(-1)” then become 0. The position value (0~“no. of pulse per 1rotation (-1)”) is repeated.
(c) Calculate CAM data step no. corresponding to “the current position per 1rotation” with “point unit” of CAM parameter.
Current Positio per 1rotation of Main Axis

Cam Data Step no. 
Point Unit
For example, if the position of main axis at the beginning of CAM operation is 1000, the current position is 1073 and point
unit is 10, the step no. of CAM data is as follows.
Current Positio per 1rotation of Main Axis

Cam Data Step no. 
Point Unit
1073  1000

10
 7.3
(d) Calculate update position of sub axis with CAM data step. If main axis is forward direction, calculate the position of sub
axis with the position corresponding to “the part of positive number of CAM data step no.” and the position corresponding
to “the part of positive number of CAM data step no. +1”.

= {(Step position of CAM data +1) – (Step position of CAM data)} x Decimal part of CAM data step no.
+ (Step position of CAM data)
For example, if position value of sub axis of step 7 is 395 and step 8’s is 475, the position of sub axis is as follows.
Position of sub axis  395  ( 475 - 395)  0.3

 395  24
 419

Chapter 9 Functions

(a) General CAM command
Position of main axis
Goal position
Starting position
Time
of main axis
Transfer distance per

1rotation of main axis
0 Time
Transfer distance per
1rotation of sub axis
0 Time
1 cycle 1 cycle
ON
Start command
for main axis
ON
CAM operation
for sub axis
ON
Main axis
in operation
ON
Sub axis
In operation
ON
Positioning
complete signal
for main axis
Positioning Stop but no turn
complete signal On
for sub axis
ON
Stop command
for sub axis

Chapter 9 Functions
(a) Master axis offset designated CAM command

Position of Master Axis
Goal Pos.
CAM operation
Offset
starting Pos.
Master Axis
starting Pos. Time
of main axis
Transfer distance
per 1rotation of
main axis
0 Time
Sub Axis
starting Pos.
0 Time
1 Cycle 1 Cycle
Transfer distance
ON per 1rotation of
Start command sub axis
for main axis
ON
CAM operation
for sub axis
ON
Main axis
in operation
ON
Sub axis
In operation
ON
Positioning
complete signal
for main axis
Positioning Stop but no turn
complete signal On
for sub axis
ON
Stop command
for sub axis
(5) Restrictions
CAM operation command may not be executed in the cases below.
(a) If execute CAM operation command in being On of M code, error (code:702) arises. Make M code “OFF” with “M code
release (XMOF)” command before use.
(b) If the current main axis is not the axis can be set on the current module or main axis and command axis are the same
axis, error (code:704) arises. Set the main axis among one of the axis can be set on module.
(c) If speed of main axis is too fast and speed of sub axis exceeds speed limit, error (code:708) arises. In this case, you have
to lower the operation speed.

Chapter 9 Functions
9.4.4 User CAM Operation

User CAM operation, like CAM operation, executes CAM axis control in which CAM data shown as CAM curve
synchronize with position of the motor set as main-axis. The difference with CAM operation is that user sets up CAM data
not in XG-PM but in PLC program (XG5000), and the number of CAM data is 30.
1) Operation
Like figure above, you can set up maximum 30 CAM data points, and it operates CAM curve between CAM points with
straight line. CAM point data is set up at sub-axis and as type of (main-axis position, sub-axis position). CAM data point
can be saved at the specified memory address of each axis by using “ Write Variable Data” (XPM_VWR) command. For
memory address to save CAM data point of each axis, refer to 11.9 User CAM data memory address.
Note
User cam data can be changed by variable data writing command during user cam operation. The changed user
cam data is reflected after the completion of one cycle of the current user cam data.
It can be used in applications where it is necessary to change the cam pattern without stopping while operating the
user cam. If you change the user cam data, it takes time to calculate according to the unit for each point. To change
the user cam data during operation, set the control period to 5 ms or more.

Chapter 9 Functions
9.5 Modification Function of Control

9.5.1 Floating Origin Setting
This is used to force to set the current position as the origin without carrying out the homing action of the machine.

(a) Modify the current position into “Homing end position” of homing parameter and become Origin-decided status.
(b) After floating origin setting command is executed, the current position is changed to “The position of homing completion”
of homing parameter.
(c) Related parameter (Homing Parameter)
Position of homing Set the position after homing completion or floating origin
-2147483648 ~ 2147483647
completion setting
Note
Floating origin setting just executes forced origin-decision from the current position to origin completion position. So
user need to take notice as follows.
(1) When error arose, clear the cause of error and reset,
(2) set floating origin again,
(3) change the operation step no. to operate with start step no. change command and then execute.
Current position
Psotion
Origin
Position
Origin Position of
Homing completion
ON
Floating Origin
setting command
ON
Origin-decision
Signal
(3) Restrictions
If drive ready signal is in “OFF”, floating origin setting command is not executed but error (code:212)arises. When drive
ready signal is in “ON”, execute floating origin setting command.

Chapter 9 Functions
9.5.2 Continuous Operation

Execute positioning control changing the current operation step no. to the next one.

(a) When continuous operation command is executed, operating speed is changed into the speed of next operation step
directly.
(b) This command may be used in End, Go on, Continuous mode and used at Acc.,Dec.,Steady speed section.
(c) If continuous operation command is executed in operation, the current operation step no. is changed to the next step no.
and keep operating.
(d) There are differences of operation depending on between absolute coordinates and relative coordinates.

Operation on absolute coordinates Operation on relative coordinates
Speed Speed
Operation mode: Operation mode:

Not Use Coninuous Operation
Singular, End Singular, End

Step no. : 2 Step no. : 2

Singular, Continuous Singular, Continuous
Time Time
Position
Position P1 Position P2 Position P1 P1+P2
ON ON
Start Start
ON ON
In operation In operation
Speed Speed
A Operation mode: Operation mode:

Singular, End Singular, End
Use Continuous Operation

B
Singular, Continuous Singular, Continuous
Time Time
Position P2 Position
Position P1 Position P1 P1+P2
ON ON
Continuous ON Continuous ON
operation operation
command command
■ The goal positions of continuous operation on absolute coordinates are same, so the goal position is the same as the
position before and after continuous operation. Therefore, the current position positioned by continuous operation is P2. (A
area and B area both are same size)
■ When continuous operation is executed on relative coordinates, the movement amount between current position and goal
position is the real goal position. Therefore, the goal position is different from the one without continuous operation. The
position positioned by continuous operation is P1 + P2.

Chapter 9 Functions
(3) Restrictions
In the cases below, continuous operation is not executed and previous operation is being kept.
(a) Acc./Dec. pattern of extended parameter is “S-curve operation”. (error code : 390)
(b) It is in dwell. (error code : 392)
(c) The current control is not single axis position control or linear interpolation. (error code : 393)
(d) Speed data value of operation step to be executed next is 0 or exceeds the speed limit. (error code : 394)
(e) Execute continuous operation command on sub axis. (error code : 395)
User has to execute continuous operation command on main axis in linear interpolation.
(f) Execute continuous operation command on axis in circular interpolation. (error code : 396)
(g) Execute continuous operation on sub axis in sync. operation. (error code : 397)
(h) The current operation step no. is the last step(400) of operation data. (error code : 399)
(i) The current axis in operation is executed by direct start command. (error code : 400)
[Example] Execute continuous operation on axis1 operating by absolute, single axis position control
■ Current position of Axis1 : 0
▪ Operation data of axis1
Operation speed
[pls/s]
1 Singular, end 1000 1000 No.1 No.1 0 0
position control
2 Singular, end 5000 2000 No.1 No.1 0 0
position control
Speed
2000
Operation mode :
Singular, End
Change to next step Operation step no. : 2
1000
Operation mode :
Singular, End
Previous operation pattern
Operation step no.: 1 of continuous operation
Position
0 1000 5000
ON
Start command
ON
Continuous
operation
command
ON
In operation
ON
Positioning
complete

Chapter 9 Functions
9.5.3 Skip Operation

Decelerate and stop the current operation step and change to the operation data of next operation step no., then execute
positioning control.

(a) SKIP operation command stops the operation and carries out the operation of next step after executing the command other
than Continuous operation command (Next Move).
(b) This is used in case that the operation mode is End, Keep, Continuous and the operation pattern is in Acceleration,
Constant speed, Deceleration section.
(c) If SKIP operation command is executed in the status that the operation data of next step is not yet set, Error 151 will occur.
(d) When set position data, there would be differences on skip operation command depending on absolute coordinates and
relative coordinates,

Operation on absolute coordinates Operation on relative coordinates
Speed Speed
Operation mode : Operation mode : Operation mode : Operation mode:

Not Use Coninuous Operation
Singular, Continuous Singular, End Singular, Continuous Singular, End

Step no. : 1 Step no. : 2 Step no. : 1 Step no. : 2
Time Time
Position P1 Position P2 Position P1 Position
ON ON P1+P2
Start Start
ON ON
Speed Speed
Operation mode : Operation mode : Operation mode : Operation mode:

Singular, Continuous Singular, End Singular, Continuous Singular, End
Use Continuous Operation
Step no. : 1 Step no. : 2 Step no. : 1 Step no. : 2

A B
Time Time
Position
Position P1 Position P2 Position P1 P1+P2
ON ON
ON ON
Skip Skip
operation operation
command command
■ The goal position of next operation step after skip operation command is executed on absolute coordinates is the same as
the case did not execute skip operation. Therefore, current position positioned by skip operation is P2. (A area and B area
both are same size)
■ When skip operation is executed on relative coordinates, the movement amount between current position and goal
position is the real goal position. Therefore, the goal position is different from the one without continuous operation. The
position positioned by skip operation is P1 + P2.

Chapter 9 Functions
(3) Restrictions
In the cases below, skip operation is not executed and previous operation is being kept.
(a) Execute skip operation command on the sub axis of linear interpolation. (error code:332)
Skip operation in linear interpolation operation must be executed on main axis.
(b) Execute skip operation command on the sub axis of sync. operation. (error code:333)
(c) Execute skip operation command on the axis in Jog operation. (error code:335)
(d) The current axis is executed by direct start. (error code:336)
(e) Execute skip operation on the axis in Inching operation. (error code:337)
(f) Execute skip operation on the sub axis of circular interpolation. (error code:338)
Skip operation in circular interpolation operation must be executed on main axis.
[Example] Execute skip operation command on axis1 operating by absolute and single axis position control.
■ Current position of axis1 : 0
Operation Operating speed
Step no. Control method Goal position [pls] Acc.no. Dec.no. M code Dwell time
method [pls/s]
1 Singular,End 1000 1000 No.1 No.1 0 0
position control
2 Singular,End 5000 2000 No.1 No.1 0 0
position control
Speed
2000
Operation mode :
Singular, End Operation mode :
Operation step no. : 1 Singular, End

of skip operation
Position
0 1000 5000
ON Move to the next step
Start command
ON
Skip operation
command
ON
In operation
ON
Positioning
complete

Chapter 9 Functions
9.5.4 Position Override

This is used to change the goal position during positioning operation by positioning data.

(a) Position override command is used in the operation pattern (Acceleration, Constant speed, Deceleration section) and the
available operation mode is End operation, Keep operation, Continuous operation.
(b) Position setting range is –2147483648 ∼ 2147483647 Pulse.
(c) As the operation is different according to Position Override command during operation, cares should be taken in using.
In other words, if position of position override at the moment of commanding position override is bigger than the position it
stopped at, the positioning direction would be forward. If it is smaller, the direction would be reverse.
(d) This command may be executed several times in operation.
Speed
Position override is executed

Setting Speed when decelerating,
it starts accelerating
Position
Current position Goal Position Override Override
position1 position2
ON
Start
ON ON
Position override
command
Override position1 Override position2
ON
In-operation
ON
If position override is executed in operation, the goal position is changed to override position1 and keep operating. If
position override for override position2 is executed at dec. area, positioning is finished by acc. speed already set at
override position2.

Chapter 9 Functions
■ The case that override position is smaller than decelerating stop position.
Override position is smaller
Speed
than decelerating stop position,
so the operating direction is
reverse.
Setting Speed
Position
Current position Goal position
Override position
Setting speed
ON
Start command
ON
Position override
(3) Restrictions
In the cases below, position override is not executed and previous operation is being kept.
(a) Execute position override in dwell. (error code:362)
(b) Current operation is not positioning control(single axis positioning, Inching operation). (error code:363)
(c) Execute position override on the axis operating linear interpolation. (error code:364)
(d) Execute position override on the axis operating circular interpolation. (error code:365)
(e) Execute position override on the sub axis of sync. operation. (error code:366)

Chapter 9 Functions
[Example] Execute position override on axis1 operating by absolute, single axis positon control.

Operation Operation speed
method [pls/s]
Absolute single axis Singular,
1 1000 1000 No.1 No.1 0 0
Absolute single axis
2 Singular, End 5000 2000 No.1 No.1 0 0
position control
Speed
of position override
2000
Operation mode :
Singular, continuous Operation mode :
Operation step no. : 1 Singular, End
Operate the next step at

override position
Position
0 1000 2000 5000
Goal position Override position
ON
Start command
ON
Position override
Override position : 2000
ON
In operation
ON
Note
If operation pattern is “continuous” and override position is bigger than goal position, keep operating at current
speed then continue to operate the next step. If override position is smaller than goal position, execute decelerating
stop and position in reverse direction, then continue to operate the next step.

Chapter 9 Functions
9.5.5 Speed Override

When user wants to change the operation speed of positioning control, user may change the speed with speed override
command.

(a) Speed override command is available in acc./steady speed area and available operation modes are “end”, “go on” and
“continuous”.
(b) It may be executed several times in operation.
(c) User may set speed override value as “%setting” or “speed setting” on [Speed override] of common parameter.
(d) Related parameter setting (common parameter)
0 : %setting Set the speed override setting value by %
Speed override
1 : speed setting Set the speed override setting value with exact number
(e) Auxiliary data of speed override command setting
Set the speed override setting value with percentage
1 ~ 65535 (1=0.01%)
(If it is 100%, set 10000)
Speed
1 ~ Speed limit Set the speed override setting value directly
Speed
Override speed2
Previous operation
pattern of override
Setting speed
Override speed1
Time
ON
Start command
ON ON
Speed override
Override speed1 Override speed2
ON
In operation
ON
현재 운전 중인 위치결정 제어의 운전 속도를 변경하고자 하는 경우에 속도 오버라이드 명령을 사용하여 운전 속

도를 변경할 수 있습니다.

Chapter 9 Functions
(3) Restrictions
In the cases below, speed override is not executed and previous operation is being kept.
(a) Value of speed override exceeds speed limit of basic parameter. (error code:372)
Speed value of Speed override must be below speed limit.
Override speed of linear interpolation for each axis need to be below speed limit.
(b) Execute speed override on the sub axis of linear interpolation. (error code:373)
In linear interpolation, speed override must be executed on main axis.
(c) Execute speed override on the sub axis of circular interpolation. (error code:374)
In circular interpolation, speed override must be executed on main axis.’
(d) Execute speed override on sub axis of sync. operation. (error code:375)
(e) Execute speed override in dec. area. (error code:377)
(f) In the case that acc./dec. pattern of extended parameter is “S-curve operation”. (error code:378)
[Example] Execute speed override(50%→100%→200%→150%) on axis1 operating by absolute, single axis

position control.
“Speed override” of common parameter : Set %
“Speed limit” of basic parameter : 3000 [pls/s]

method [pls/s]
1 Singular, End 1000 2000 No.1 No.1 0 0
position control
Speed
Override speed : 200%
4000 Not operate because of
exceeding speed limit
Speed limit
3000
Previous
operation pattern
of speed override Override speed : 100%
2000

1000
Time
ON
Start command
ON ON ON ON
Speed override
command
Override speed : 50% Override speed : 100% Override speed : 150%
ON Override speed : 200%
In operation
ON
Positioning
complete

Chapter 9 Functions
9.5.6 Position designated Speed Override

This is the command to operate by the changed operation speed if it reaches the setting position during positioning operation.

(a) This command is used only in Acceleration and Constant speed section from operation pattern and the available
operation mode is End, Keep, Continuous operation.
(b) As this command is not carried out in Deceleration section, cares should be taken in using.
(c) The position setting range is –2147483648 ∼ 2147483647 Pulse.
(d) User may set speed override value as “%setting” or “speed setting” on [Speed override] of common parameter.
(e) User may select that consider the designated position value on “coordinates of positioning speed override” of extended
parameter as an absolute position or a relative position.
(f) Related parameter setting
■ Common parameter
0 : Set % Set the value of speed override by %
Speed override
1 : Set speed Set the value of speed override with exact number
■ Extended parameter
Coordinates of 0 : Absolute Speed override is executed in the designated absolute position
positioning speed
1 : Relative Start speed override from the position increment added
override
(g) Auxiliary data setting of positioning speed override command

Position -2147483648 ~ 2147483647 Set the position to start speed override
If speed override is “%”, set the speed by %

1 ~ 65535 (1=0.01%)
(100% is 10000)
Speed
If speed override is “Exact number”, set the speed with exact
1 ~ Speed limit
number
Note
While the current position is not exactly same as the value set on speed override, if the position of speed override is
at between previous scan and current scan, speed override is executed at the speed set.

Chapter 9 Functions
Speed
Override speed
Speed override is
not executed here
Setting speed
Position
Starting Goal position
position Position of speed override
ON
Start command
ON
Positioning
speed override
ON
In operation
ON
(3) Restrictions
In the cases below, positioning speed override is not executed and previous operation is being kept.
(a) Current operation is not positioning (single axis position control, Inching operation) control. (error code:382)
(b) The value of speed override exceeds speed limit of basic parameter. (error code:383)
The speed value of speed override must be below speed limit.
Override speed of linear interpolation for each axis need to be below speed limit.
(c) Execute positioning speed override on the sub axis of linear interpolation. (error code:384)
In linear interpolation, positioning speed override must be executed on main axis.
(d) Execute speed override on the sub axis of circular interpolation. (error code:385)
In circular interpolation, positioning speed override must be executed on main axis.’
(e) Execute speed override on sub axis of sync. operation. (error code:386)
(f) In the case that acc./dec. pattern of extended parameter is “S-curve operation”. (error code:389)
(g) If execute positioning speed override in dec. area., although error does not arise but speed override is not executed.
However, execute positioning speed override command in non-dec. area and speed override is executed when it is
decelerating, error arises. (error code:377)

Chapter 9 Functions
[Example] Execute positioning speed override at 4000 [pls/s] at 2000(position of speed override) on axis1 operating by
absolute, single axis position control.
「Speed override」of common parameter : Speed setting
「Speed limit」of basic parameter : 5000 [pls/s]
「Coordinates of positioning speed override」of extended parameter : Absolute

method [pls/s]
1 5000 2000 No.1 No.1 0 0
Speed
Speed limit
5000
Override speed : 4000
4000
2000
Position
0 Starting 2000 Position for 5000 Goal position
position Speed override
ON
Start command
ON
Positioning
speed override
command Position for speed override :
2000
ON
In operation
ON
Positioning
complete

Chapter 9 Functions
9.5.7 Current Position Preset

This command is for changing the current position value to the value at user’s pleases.

(a) If user uses this command, the origin-undecided status becomes origin-decided status.
(b) When the current position is changed by position changing command, the mechanical origin position is changed. If user
wants to use the mechanical origin again, has to execute homing command.
(c) The current position preset command may not be executed in operation.
(d) Auxiliary data setting of current position preset command.
Position -2147483648 ~ 2147483647 Set the position to change
Position
Soft high limit
Current
position
Preset
position If the position to preset is 0
Origin Time
Origin
Soft low limit
ON
Current position
preset command
ON
Origin-deciding
signal
(3) Restrictions
In the cases below, current position preset is not executed and error arises.
(a) Setting value of current position preset exceeds soft high/low limit of extended parameter. (error code:452)

Chapter 9 Functions
9.5.8 Encoder Preset

This command is for changing the value of current encoder position to the value at user’s pleases.

(a) User may change the current position value.
(b) If there is an encoder being main axis, the speed of sub axis is possible to be changed dramatically, so encoder preset
command may not be executed.
(c) Encoder preset command should be executed in the status that external encoder pulse input is not entered.
(d) Auxiliary data setting of encoder preset command
-2147483648 ~
Position Set the encoder position to change on selected encoder
2147483647
Select the encoder to change.
Since encoders 1 to 4 use built-in high-speed counter
Types 0 ~ 3 : Encoder channels 0 to 3, the current position of the high-speed
counter used for each channel is also preset at encoder
preset.
Encoder Position
Max. value of encoder
Current position
Position to preset
0 Time
Min. value of encoder
Encoder A phase
…
input
Encoder B phase
…
input
ON
Encoder preset
command
(3) Restrictions
In the cases below, encoder preset command may not be executed and error arises.
(a) There is an encoder as a main axis (error code: 532)
(b) Position value of encoder preset exceeds the max./min. value of encoder of common parameter.

Chapter 9 Functions
(error code:534)
9.5.9 Start Step no. Change

This command is for changing the current step no. when executing indirect start command.

(a) When starting with setting step no. as 0 in indirect start command, current operation step no. is executed. The current
step no. may be changed by start step no. change command.
(b) This command may be only executed in stop motion or error arises.
(c) Auxiliary data setting of start step no. change command.
Step 1 ~ 400 Set the step no. to change
Speed
Operation step no. : n
Time
Current step no. 1 1 2 n n n+1
ON ON
Start command
(IST Step:0)
ON
Start step no.
change command
Step no. : n
ON ON
In-operation
ON ON
Positioning
complete
(3) Restrictions
In the case below, start step no. change command is not executed.
(a) Step no. to change is out of 0 ~ 400. (error code:442)
If step no. is 0, keep the current step no.

Chapter 9 Functions
9.5.10 Repeat Operation Step no. Change

This command is for changing the repeat operation step no will be executed next.

(a) In case of repeat operation mode setting (End, Keep, Continuous operation), the current operation step no. will be
changed automatically to operate the step no.1 when repeat operation mode setting step completes the positioning
operation but if start step no. change command is executed in repeat operation, the step no. will be changed with the
assigned step no. not the step no.1 .
(b) The repeat operation step no. change command can be executed during positioning operation.
(c) Auxiliary data setting of repeat operation step no. change command
Step 1 ~ 400 Set the repeat operation step no. to change
Speed

It is before executing Repeat, End
repeat operation step no. Being changed to the
Repeat, End change command, designated step no.
So become “1”
Time
Current step no. 10 10 1 1 1 n
ON ON
Start command
(IST step:0)
ON
Repeat operation
step no. change
command
Step no. : n
ON ON
In operation
ON ON
Positioning
complete
Note
The current operation step is not changed at the moment of executing the command. After “Repeat” positioning data
operation is finished, it is changed to the step designated by repeat operation step no. change command.

Chapter 9 Functions
(3) Restrictions
In the case below, repeat operation step no. change command is not executed.
(a) Step no. to change is out of 0 ~ 400. (error code:442)
If the step no. is 0, keep the previous step no.
[Example] Execute repeat operation step no. change command on axis1 operating by absolute, single axis position
control.
method [pls/s]
1 1000 1000 No.1 No.1 0 0
position control Go on
2 2000 2000 No.1 No.1 0 0
position control continuous
3 4000 3000 No.1 No.1 0 0
position control continuous
Absolute single axis Repeat,
4 2000 3000 No.1 No.1 0 0
position control Continuous
5 5000 2000 No.1 No.1 0 0
position control End.
Speed
3000
2000 Step no.2, 3, 4

are repeated
1000
Singular, Singular, Singular, Singular,C
Continuous continuous continuous ontinuous
Time
Repeat, Singular,C Repeat,Go on
Continuous ontinuous
-3000
Current step no. 1 1 2 3 4 2 3 4 2
ON
Start command
(IST Step:0)
ON
Repeat operation
step no. change
command
Step no. : 2
ON
In operation
Positioning
complete
9.6 Auxiliary Function of Control

9.6.1 High/Low limit
Positioning module includes Hardware high/low limit and Software high/low limit.

Chapter 9 Functions
(1) Hardware High/Low Limit

(a) This is used to stop the positioning module promptly before reaching Stroke limit/Stroke End of the Driver by installing the
stroke limit of positioning module inside Stroke limit/Stroke end of the Driver. In this case, if it is out of the high limit, Error
492 will occur and if it is out of the low limit, Error 493 will occur.
(b) Input of high/low limit switch is connected to input/out terminal block.
(c) When positioning module is not in the controllable area, positioning operation is not executed.
(d) If it is stopped by hardware high/low limit detection, move it into the controllable area with Jog operation in reverse
direction of detected signal.
(e) Hardware high/low limit is shown as follows.
High Low
limit limit
Controllable range of positioning module
Stopper Stopper
Moving direction Moving direction

Start Start
When detected high limit,

stop emergently
Low limit swich High limit switch
XGF-P□□H
(f) Emergent stop when hardware high/low limit is detected

When hardware high/low limit is detected, stop the current positioning control and then decelerate within “Dec. time for
Emergent stop”.
■ Related parameter setting (Basic parameter)

Dec. time of Set the dec. time for emergent stop. Dec. time for emergent stop
0 ~ 2147483647 [ms]
Emergent stop means the time needed at decelerating by bias speed.

Chapter 9 Functions
(2) Software High/Low Limit

(a) This command is for setting the movable range of machine as software high/low limit. If it is out of the range in operation,
stop emergently within dec. time for emergency. In other words, this command is for preventing errors, malfunctions and
being out of range.
(b) If it is out of the range of software high/low limit, set external input high/low limit for use.
(c) Checking range of software high/low limit is executed at the beginning.
(d) If software high/low limit is detected, error arises. (High limit error:501, Low limit error:502)
(e) User may set the position value of high/low limit on extended parameter.
■ Related parameter setting (Extended parameter)

Soft High Limit -2147483648 ~ 2147483647 Set the position of soft high limit
Soft Low Limit -2147483648 ~ 2147483647 Set the position of soft low limit
(f) Software high/low limit is shown as follows.
Moving range of machine
Software Low limit Software High limit
Emergent stop
Position
Soft low limit ON
Soft High limit
Start command
ON
In operation
Positioning complete signal
(g) In the case below, software high/low limit are not detected.
▪ The value of soft high limit 2147483647, the value of soft low limit is -2147483648
▪ The value of soft high and low limit are same. (High limit = Low limit)
Note

Chapter 9 Functions
(1) It does not detect software high/low limit in origin-undecided state

(2) Not to detect software high/low limit
If the value of current position becomes 2147483647 in forward operation, the current position becomes
-2147483646 and keeps operating in forward direction.
If the value of current position becomes -2147483647 in reverse operation, the current position becomes
2147483646 and keeps operating in reverse direction.

Chapter 9 Functions
9.6.2 M code
This is used to confirm the current operation step no. and carry out the auxiliary work (Clamp, Drill rotation, Tool change etc.)
by reading M Code from the program.

(a) M code should be set in the M code item of operation data.(Setting range : 0~ 65535)
(b) If M code is set as “0”, M code signal will not occur.
(c) If M code occurs, M code no.(1 ~ 65535) and M code signal (On) will occur simultaneously.
(d) In case of Keep operation mode, if M code no. and M code signal occur, it becomes standby for the next step; if executing
M code release (MOF) command, it carries out Keep operation to the next step without start command.
(e) In continuous operation mode, even if M code no. and M code On signal occur, not to wait but execute continuous
operation to the next step.
(f) User may turn M code signal off and set M code no. to 0 with M code release command. M code release command can
be used even during operation.
(g) M code mode is set from M code output item of extended parameter. ( 0 : NONE, 1 : WITH, 2 : AFTER)
■ Related parameter setting (Extended parameter)
0 : None Not to output M code signal and M code no.
Start and turn M code signal on at the same time, then output M code
1 : With
M code mode no. set in operation data.
After finishing positioning by start command, turn M code signal on
2 : After
and then output M code no. set in operation data.

1 : With mode 2 : After mode
Time Time
Dwell
Dwell time
time
Time Time
ON ON
Start command Start command
M code no. 0 m 0 M code no. 0 m 0
ON ON
M code ON M code ON
ON ON
M code release M code release

ON ON
ON ON
Positioning Positioning
complete complete

Chapter 9 Functions
[Example] Set M code no. in operation data as follows and execute absolute, single axis positioning control.
M code mode of basic parameter : With

method [pls/s]
Absolute, single axis Singular,
1 1000 2000 No.1 No.1 100 100
positioning control continuous
2 3000 2000 No.1 No.1 200 100
3 5000 2000 No.1 No.1 300 100
Speed
Operation step no. : 1 Operation step no. : 2 Operation step no.: 3

2000
Dwell time Dwell time Dwell time

Singular, Go on Singular, Go on Singular, End
Time
ON Start “go on” Start “go on”
Start command
M code no.
0 100 0 200 0 300
output
ON ON ON
M code ON
ON ON
M code
release
ON
In operation
ON
Positioning
complete

Chapter 9 Functions
9.6.3 Infinite running repeat function

This is used to repeat operation between "0" and "infinite running repeat position-1". t is activated when the infinite running
repeat parameter is "enabled".

(a) Not allowed to set negative value for infinite running repeat position. Infinite running repeat position can be designated
between 1~2,147,483,647.
(b) If the current position is outside the range of infinite length iterations and you set infinite length iterations to allow,
the current position is changed within the range calculated by infinite iterations
(c) The operation range is infinite running repeat position set value -1
(d) There is no command to execute infinite running repeat, it is activated and deactivated by turing on and off the infinite
running repeat enable bit of the extended parameter.
(e) Set infinite running repeat to allow, the operation is as follows.
Speed
Goal Position
Time
Infinite repeat
Position running position
Goal Position
Starting Position
0 Time
ON
Starting command

Chapter 9 Functions
9.7 Data Modification Function

This function is for changing operation data and operation parameter of embedded positionig module
9.7.1 Teaching Array

User may change the operating speed and the goal position of the step user designated with teaching command but without
XG-PM.

(a) This command is for changing operating speed or the goal position on several steps.
(b) User may change maximum 16 data.
(c) RAM teaching and ROM teaching are available depending on the saving position.
■ RAM teaching
When executing teaching to operation data of module and operating module in power connection, user may change
speed value or position value but the speed value and position value are not saved in non-power connection.
■ ROM teaching
speed value or position value and operation data is saved permanently even in non-power connection.
(d) The value of goal position being changed is position teaching, the value of operating speed being changed is speed
teaching.
(e) The axis in operation may be the subject of position teaching or speed teaching.
(f) If user changes the value of goal position or operating speed frequently, this command is very useful for it.
(g) Auxiliary data setting of teaching array command
Step 0 ~ 400 Set the step no. for teaching
0 : RAM teaching
Position Set the method of teaching
1 : ROM teaching
0 : Position
Data Set the data items for teaching
1 : Speed
The No. 1 ~ 16 Set the number of operating step
(h) Teaching Array command is available to be executed when the axis is operating. But teaching data of operating step
do not apply instantly. Operating step data will apply end of present step operation
Note
The teaching data must be set in the data setting area for teaching array before teaching array command is
executed. Refer to the teaching array command XTWR.

Chapter 9 Functions
(2) Restrictions
Teaching array command may not be executed in the case as follows.
(a) The number of teaching array is out of the range (1~16). (Error code: 462)
(b) Teaching step no. is out of the range (1~400). (Error code: 465)
Total number (Teaching step no. + The number of Teaching) must be below 400.

Chapter 9 Functions
9.7.2 Parameter Change from Program

User may modify the operation parameter set on XG-PM with teaching command for each parameter.

(a) There are 6 kinds of parameter teaching command. (Basic, Extended, Manual operation, Homing, External signal,
common parameter teaching)
(b) Parameter teaching is not available in operation.
■ RAM teaching
speed value or position value but the speed value and position value are not saved in non-power connection.
■ ROM teaching
speed value or position value and operation data is saved permanently even in non-power connection.

Chapter 9 Functions
(2) Basic Parameter Teaching

(a) Change the setting value of designated item from basic parameter of module into teaching data.
(b) Auxiliary data setting of basic parameter teaching command
Set the teaching value of parameter selected
Teaching data Refer to “setting range”
Setting range
1 Speed limit 1 ~ 2147483647
2 Acc.time 1
3 Acc.time 2
4 Acc.time 3
5 Acc.time 4
6 Dec.time 1 0 ~ 2147483647
7 Dec.time 2
8 Dec.time 3
9 Dec.time 4
10 Emergent Dec.time
11 Plse/rotation 1 ~ 200000000 Choose the parameter item to do
Teaching item
execute teaching
Transferring
12 1 ~ 200000000
distance/rotation
0:pulse
1:mm
13 Unit
2:inch
3:degree
0:x1
Double precision of 1:x10
14
unit 2:x100
3:x1000
0: unit/time
15 Speed unit
1: rpm
16 Bias speed 1 ~ Speed limit
0:CW/CCW
17 Pulse output mode 1:PLS/DIR
2:PHASE
Teaching 0 : RAM Teaching
Set the teaching method
method 1 : ROM Teaching
For the details about basic parameter items and setting value, refer to “Chapter 5 Positioning Parameter & Operation Data.”.

Chapter 9 Functions
(3) Extended Parameter Teaching

(a) Change the setting value of designated item from extended parameter of module into teaching data.
(b) Auxiliary data setting of extended parameter teaching command
Teaching Set the teaching value of parameter selected
Refer to “Setting range”
data Setting value
1 Soft high limit -2147483648 ~ 2147483647
2 Soft low limit -2147483648 ~ 2147483647
3 Backlash compensation 0 ~ 65535
Positioning complete Output
4 0 ~ 65535
time
5 Ratio of S-curve 1 ~ 100
Circular interpolating position
6 of 2 axes linear interpolation 0 ~ 2147483647
0 : Trapezoid operation
7 Acc./Dec. Pattern
1 : S-curve operation
8 M code mode 0 : None, 1 : With, 2 : After
Soft high/low limit In speed 0 : Not to detect
9
control 1 : Detect
10 Servo reset retention time 1 ~ 5000[ms]
Positioning method of
0 : Pass the goal position Select the parameter
Teaching 11 interpolation continuous
1 : Pass near position item to execute
items operation
Circular interpoation of 0 : No circular interpolation teaching
12 2 axes linear interpolating 1 : Circular interpolating continuous
continuous operation operation
0 : Emergent stop
13 External emergent/dec. stop
1 : Dec. stop
Coordinates of 0 : Absolte
14
positioning speed override 1 : Relative
15
Pulse output direction 0: Foward, 1: Reversse
Infinite running repeat

16 1 ~ 2147483647
position
Infinite running repeat 0: Disable,
17
enable/diable 1: Enable
Speed/Position switching 0: Incremental
18
coordinate 1: Absolute
0: Main axis speed
19 Interpolation speed selection
1: Synthetic speed
Teaching 0 : RAM teaching
method 1 : ROM teaching
For the details about basic parameter items and setting value, refer to “Chapter 4 parameter and operation data”.

Chapter 9 Functions
(4) Homing Parameter Teaching

(a) Change the setting value of designated item from homing parameter of module into teaching data.
(b) Auxiliary data setting of homing parameter teaching command
Setting range
1 Position of origin -2147483648 ~ 2147483647
2 High speed homing Bias speed ~ Speed limit
Bias speed ~ Speed of High
3 Low speed homing
speed homing
4 Acc.time for homing
0 ~ 2147483647
5 Dec.time for homing
6 Dwell time for homing 0 ~ 65535
Teaching 7 Origin revision -2147483648 ~ 2147483647 Select the parameter item to
items execute teching
8 Restart time for homing 0 ~ 65535
0 : Near Origin/Origin (Off)
1 : Near Origin /Origin (On)
2 : High/Low limit Origin
9 Homing mode 3 : Near Origin
4 : High speed origin
5 : High/Low limit
6 : Origin
0 : Forward
10 Direction for homing
1 : Reverse

Chapter 9 Functions
(5) Manual Operation Parameter Teaching

(a) Change the setting value of designated item from manual operation parameter of module into teaching data.
(b) Auxiliary data setting of manual operation parameter teaching command
Setting range
1 Jog high speed Bias speed ~ Speed limit
2 Jog low speed Bias speed ~ Jog high speed
Teaching Select the parameter item to
3 Jog acc. time
items 0 ~ 2147483647 execute teching
4 Jog dec. time
5 Inching speed Bias speed ~ Speed limit
(6) I/O Signal Parameter Teaching

(a) Change the setting value of designated item from I/O signal parameter of module into teaching data.
(b) Auxiliary data setting of I/O signal parameter teaching command
Bit 0~1 High limit signal
Bit 2~3 Low limit signal
Sets the input format of the input signal
Bit 4~5 DOG signal parameter. If the bit value is 0, the
Teaching data corresponding signal is not used, 1 if it is
Bit 6~7 HOMEsignal contact A, 2 if it is contact B, or b11 (3) when
Bit 8~9 Deviation clear signal teaching instruction.
Bit 10 ~
-
Bit 15

Chapter 9 Functions
(7) Common Parameter Teaching

(a) Change the setting value of designated item from common parameter of XPM module into teaching data.
(b) Auxiliary data setting of common parameter teaching command
Teaching Set the teaching value of parameter selected
Refer to “setting range”
data Setting range
0 : % setting
1 Speed override
1 : speed setting
Teaching 0 : Low Active Select the parameter item to
items 2 Pulse output level execute teching
1 : High Active
3 Control cyle 1~10(ms)

Chapter 9 Functions
9.7.3 Operation Data Change from Program

User may modify the positioning operation data set on XG-PM with operation data teaching command.

(a) Change setting value of designated step and item from PLC’s operation data into teaching data.
(b) Operation data teaching command is available to be executed when the axis is operating. But teaching data of operating
step do not apply instantly. Operating step data will apply end of present step operation.
■ RAM teaching
When executing teaching to operation data of embedded positioning and operating embedded positioning in power
connection, user may change speed value or position value but the speed value and position value are not saved in non-
power connection.
■ ROM teaching
When executing teaching to operation data of embedded positioning and operating embedded positioning in power
connection, user may change speed value or position value and operation data is saved permanently even in non-power
connection. .(The number of Rom teaching time is limited. /about 1,000,000 times)

Chapter 9 Functions
(d) Auxiliary data setting of operation data teaching command

Teaching data Refer to “Setting range”
Setting range
1 Goal position -2147483648 ~ 2147483647
Auxiliary point of
2 -2147483648 ~ 2147483647
3 Operating speed 1 ~ Speed limit
4 Dwell time 0 ~ 65535
5 M code 0 ~ 65535
Set it on Bit 0 ~ Bit 3
6 Set a sub axis 0 : Not be set
1 : Be set
Helical interpolation 0 : Not use
7
(Only XBM-HP) 1 ~6 : axis1 ~ axis6
No. of circular
8 0 ~ 65535
interpolation turn
0 : Absolute
9 Coordinates
1 : Relative
Teaching 0 : single axis position control Select the parameter item to
items 1 : single axis speed control execute teching
10 Control method 2 : single axis Feed control
3 : Linear interpolation control
4 : Circular interpolation control
0 : Singular
11 Operating method
1 : Repeat
0 : End
12 Operating pattern 1 : Keep
2 : Continuous
0 : Circular arc < 180
13 Size of circular arc
1 : Circular arc >= 180
14 Acc. no. 0~3
15 Dec. no. 0~3

0 : Middle point
Method of circular
16 1 : Center point
interpolation
2 : Radius
Direction of circular 0 : CW
17
interpolation 1 : CCW
Step no. 0 ~ 400 Set the step no. of operation data to execute teaching
Teaching 0 : RAM Teaching
method 1 : ROM Teaching

Chapter 9 Functions
9.7.4 Write/Read Variable Data

Parameter, operation data, CAM data can be read by “Read Variable Data” command and written by “Write Variable Data”
command directly.
(1) Read Variable Data

(a) You read data you want by designating module internal memory address of parameter, operation data, CAM data
directly.
(b) Reads data as many as “Block size” starting position set in “Read address” with WORD unit to CPU among parameter,
operation data, CAM data. In case “CNT” is higher than 2, reads blocks with interval of “Block offset” starting “Read
address” as many as “CNT”-1.
(c) Max. data size (block size x No. of block) you can read with one command is 128 WORD
(d) “Read Variable Data” command can be executed in operation.
(e) Auxiliary data setting of “Read Variable Data” command
Read address 0 ~ 143, 367 Sets head address of Read Data
Block offset 0 ~ 143, 367 Sets offset between blocks of Read Data
Block size 1 ~ 128 Sets size of block
No. of block 1 ~ 128 Sets No. of Read Block
(f) Restriction
In the following case, error occurs and can’t execute “Read Variable Data” command
■ Data setting error (Error code: 711)
▪ Read data size (Block size x No. of block) is 0 or higher than 128 WORD.
▪ Read data address [Read address + {block offset x (No. of block -1)} + Block size is higher than last address value
(49586)
Note
If you execute “Read Variable Data” command in XGB PLC, Read data from positioning module is saved in common
area. To save in device for using in PLC program, use GETM command [Read address: 0, data size: Read data size
(DWORD)]
In XGB PLC, Read data is saved in register set in Function Block automatically.

Chapter 9 Functions
(2) Write Variable Data

(a) You write data you want by designating module internal memory address of parameter, operation data, CAM data
directly.
(b) Writes data set in PLC program as many as “Block size” starting position set in “Write address” with WORD unit
among parameter, operation data, CAM data of positioning module. In case “No. of block” is higher than 2, writes
blocks with interval of “OFFSET” starting “Write address” as many as “CNT”-1.
(c) Max. data size (Block size x No. of block) you can write with one command is 128 WORD.
(d) “Read Variable Data” command can’t be executed in operation. But “Read Variable Data” command can be executed
to User CAM data in User CAM operation.
(e) After executing “Write Variable Data” command, since the changed value is maintained while power is on, in order to
keep the changed value, execute “Save parameter/Operation data” command
(f) Auxiliary data setting of “Write Variable Data” command
Data device 0 ~ 49586 Sets device where data to write to module is saved
Sets head address of positioning module internal
Write address 0 ~ 49586
memory
Block offset 0 ~ 49586 Sets offset between blocks of Write data
Block size 1 ~ 128 Sets size of block
No. of block 1 ~ 128 Sets No. of Write block
Module internal memory address and position Module internal memory Data common area
0 Operation parameter Block 1

Data address
Block 1 Block 2
Common parameter Block offset 128 word
•
Axis 1 operation data
•
Block size Block 2 Block n
• •
•
• No. of block
•
Axis 4 operation data Block n
• •
49586 CAM data
(g) Restriction
In the following case, error occurs and can’t execute “Read Variable Data” command
■ Data range setting error (Error code: 711)
▪ Write data size (Block size x No. of block) is 0 or higher than 128 WORD
▪ Write data address [Write address + {Block offset x (No. of block -1)} + Block size] is higher than last address
value (49586)
■ Block overlap error (Error code: 713)
▪ In case module internal block to write is overlapped each other
(In case no. of block is higher than 2, block offset is smaller than block size)
■ Execution inhibition error in operation (Error code: 712)
▪ Any axis of positioning module is in operation

Chapter 10 Positioning Error Information & Solutions

Here describes the positioning error types and its solutions.
(1) Error Information of Basic Parameter
Error
Error Description Solutions
Code
Max. speed value of Basic Parameter exceeds the The speed limit of basic parameter for pulse units are bigger than
101
range. bias speed and less than 200,000
Bias speed value of Basic Parameter exceeds the Bias speed of Basic Parameter should be less than max. speed of
102
range. Basic Parameter.
Circular interpolation(Ellipse interpolation) cannot be
executed because the speed limit of the basic Retry after lowering the speed limit of the circular
104
parameter that is converted into angular velocity, is interpolation(ellipse interpolation) main axis.
equal to or greater than 180 degrees.
The value of the bias speed of basic parameter, enter one or more
105 Bias speed value of basic parameter is out of range. based on the pulse unit. Bias speed of basic parameter is reset to
the minimum value of the bias speed.
(2) Error Information of Expanded Parameter

Error
Code
Extended Parameter software upper/lower limit range S/W upper limit of Extended Parameter should be greater than or
111 error equal to S/W lower limit of Extended Parameter..
M Code Mode value of Extended Parameter exceeds M Code output of Extended Parameter is 0:None, 1:With, 2:After.
112
the range. Select one among three.
S-Curve rate of Extended Parameter exceeds the Change S-Curve rate of Extended Parameter to be more than 1
113
range. and less than 100
(3) Error Information of Manual Operation Parameter

Error
Code
Set Jog high speed of Manual operation parameter to be greater
Jog high speed value of Manual operation
121 than or equal to bias speed of Basic Parameter and less than or
parameter exceeds the range.
equal to max. speed of Basic Parameter.
Jog low speed value of Manual operation Set Jog low speed of Manual operation parameter to be more than 1
122
parameter exceeds the range. and less than Jog high speed of Manual operation parameter.
Set Inching speed of Manual operation parameter to be greater than
Inching speed value of Manual operation
123 or equal to bias speed of Basic Parameter and less than or equal to
max. speed of Basic parameter.

(4) Error Information of Homing Origin Parameter

Error
Code
Homing method of Homing parameter is 0:Dog/Origin(Off),
Homing mode value of Homing parameter
131 1:Dog/Origin(On),2:High/low limit/Origin, 3: Near Point, 4:High speed
exceeds the range.
origin, 5: High/low, 6:Origin Select one among seven.
Set Homing address of Homing parameter to be greater than S/W
Homing address of Homing parameter
132 low limit of Extended parameter and less than S/W high limit of
exceeds the range.
Extended Parameter.
Set Homing high speed of Homing parameter to be greater than or
Homing high speed value of Homing
133 equal to bias speed of Basic parameter and less than or equal to
max. speed of Basic parameter.
Set Homing low speed of Homing parameter to be greater than or
Homing low speed value of Homing
134 equal to bias speed of Basic parameter and less than or equal to
Homing high speed of Homing parameter.
(5) Error Information of Operating Data

Error
Code
Not available to set operation speed value of
151 Set operation speed to be greater than “0”.
Operation data as “0”.
Operation speed of Operation data exceeds Set operation speed to be less than or equal to
152
max. speed value. max. speed set in the Basic Parameter.
Operation speed of Operation data is set less Set operation speed to be greater than or equal
153
than bias speed. to bias speed set in Basic Parameter.
Exceeds End/Go on/Continuous operation Set one from operation pattern (0:End, 1:Go on,
155
setting range of Operation data. 2: Continuous) of operation data to operate
Even the operation pattern settled continuous, Set for abstract positioning control or speed control. If it is for current
156 next command cannot support continuous step command then next step command should be a interpolation
operation. command.
Even the operation pattern settled continuous,
If operation pattern is continuous, them set both
157 next command cannot support axis of current
Operation data and next step operation data equally
command.
Even the operation pattern set continuous, Continuous operation only can be operated when it is shortening
158 current command cannot support continuous position control, linear interpolation, and circular interpolation. In
current command. other commands, set operation option to end or continuous.
Goal position of operation data exceeds the For positioning control operating change goal position more than
159
range. 2,147,483,648 and less than 2,147,483,647.

(6) Error Information of Data Writing

Error
Code
Parameter writing command cannot be done Once current operation is done, eliminate error with error-reset
171 because of start command execution while SM-NM is command, then execute writing command again. Do not execute
sending common parameter start operation while parameter sending.
sending operating parameter. start operation while parameter sending.
173 because of start command execution while command, then execute writing command again. Do not execute
SM-NM is sending operating data. start operation while operating data sending.
sending CAM data. start operation while CAM data sending.
Start command cannot be executed while writing Execute again once writing of parameter or operating data are
175
sending-parameters or operating-data from SM-NM. done.
Data can not be written to the flash during start-up. Stop all axis
176 It can not be saved during flash or during start-up
startup and execute flash write again.
(7) Error Information of Positioning command and Step control

Error
Code
190 Home return HOME signal contact set value error Set the home position signal between %IX0.0.0 and %IX0.0.15
191 P contact point index range error Set the P device index to a value between 0 and F.
do not overlap Setting the I / O signals ithin the same channel.
192 I / O device duplication setting error Duplicate input / output signals are not reflected in operation.

Error
Code
Homing command is not available to carry out in Check if the command axis is in operation or not when giving the
201
operation status homing command
Homing command is not available to carry out in the Check if the Driver ready signal of command is OFF when giving
203
Driver ready OFF status the homing command
Floating point setting command is not available to Check if the command axis is in operation when giving floating point
211
carry out in operation status setting command
Floating point setting command is not available to Check if the Driver ready signal of command axis is OFF when
212
carry out in the Driver ready OFF status giving the floating point setting command
Direct start command is not available to carry out in Check if the command axis is in operation when giving direct start
221
operation status command
Check if M code signal of command axis is ON when Direct Start
Not possible to carry out Direct Start command in the
223 command is executed. XPM_MOF command can make M Code
state of M Code ON.
OFF.
Not possible to carry out absolute coordinate operation in the origin
Not possible to carry out Direct Start command at the unsettled state. Check the coordinate of operation data to operate
224 absolute coordinate in the origin and the current origin determination. Available to carry out absolute
unsettled state. coordinate operation after origin determination by Homing command
or floating origin setting command.
Not possible to carry out Direct Start command in the Check if Driver Ready signal of command axis is OFF when Direct
225
state of Servo Ready OFF. Start command is executed.
Shortest Distance Control of Direct Start can't be Change the coordinate from Absolute coordinate to Incremental
226
executed in Incremental coordinate. coordinate.
For Shortest Distance Control at Unlimited Length Repeat mode,
Invalid target position in case of Shortest Distance
227 target position should be higher than 0 and smaller than "Unlimited
Control at Unlimited Length Repeat mode
Length Repeat Position" of Extended Parameter.
Execute indirect start with setting of feed control for operation
Not possible to carry out continuous operating out
230 control, continuous for operating pattern if it is set as continuous or
Indirect Start command in the state of feed control.
end.
Not possible to carry out Indirect Start command in Check if command axis is in operation when Indirect Start
231
the state of in operation. command is executed.
Check if M code signal of command axis is ON when Indirect Start
Not possible to carry out Indirect Start command in
233 command is executed
the state of M Code ON.
Available to make M Code OFF by XPM_MOF command.
Not available to carry out absolute coordinate operation in the origin
unsettled state. Check the coordinate of step to operate and the
Not possible to carry out Indirect Start command at
234 current origin determination state. Available to carry out absolute
the absolute coordinate in the origin unsettled state.
coordinate operation after origin determination by Homing command
Not possible to carry out Indirect Start command in Check if Driver Ready signal of command axis is OFF when Indirect
235
the state of Servo Ready OFF. Start command is executed.
Check if there is no step that control method is set as speed control
Not possible to carry out Continuous operation of
236 in the middle of Continuous operation of position control among
Indirect Start at speed control.
Operation data and operation pattern is set as Continuous.

Error
Code
Set the step no. for POINT start to be less than
237 Step no. of POINT start is limited up to 20.
20 and greater than 1
Not possible to carry out Continuous operation
Check if acc./dec. pattern of extended parameter of command axis
238 of Indirect Start at S-Curve acceleration /deceleration
is set as S-Curve.
pattern.
Not possible to carry out Linear interpolation Start in
Check if main axis is in operation when Linear interpolation
241 the state that main axis of linear interpolation is in
command is executed.
operation.
Not possible to carry out Linear interpolation Start in
Check if subordinate axis 1 is in operation when Linear interpolation
242 the state that subordinate axis 1 of linear interpolation
is in operation.
Not possible to carry out Linear interpolation Start in Check if M Code signal of main axis is ON when Linear interpolation
247 the state that M Code signal of main axis of Linear command is executed. Available to make M Code OFF by
interpolation is ON. XPM_MOF command.
Not possible to carry out Linear interpolation Start in Check if M Code signal of subordinate axis 1 is ON when Linear
248 the state that M Code signal of subordinate axis 1 of interpolation command is executed. Available to make M Code OFF
Linear interpolation is ON. by XPM_MOF command.
Not possible to carry out positioning operation of unsettled state. Check the coordinate of step to operate and the
250 absolute coordinate in the state that main axis of current origin determination state. Available to carry out absolute
Linear interpolation is origin unsettled. coordinate operation after origin determination by Homing
command or floating origin setting command.
Not possible to carry out positioning operation of unsettled state. Check the coordinate of step to operate and the
251 absolute coordinate in the state that subordinate axis 1 current origin determination state. Available to carry out absolute
of Linear interpolation is origin unsettled. coordinate operation after origin determination by Homing
In case that main axis and subordinate axis is set
wrong in Linear interpolation. (the case that the Check if the subordinate axis is not assigned, or only one axis is
253 subordinate axis is not assigned, the case that only assigned, or no axis is assigned when Linear interpolation
one axis is assigned, or the case that no axis is command is executed.
assigned)
Not possible to carry out the operation as Servo Check if Driver Ready signal of master axis is OFF when Linear
254
Ready is OFF at the main axis of Linear interpolation interpolation command is executed.
Not possible to carry out the operation as Servo
Check if Driver Ready signal of subordinate axis is OFF when
255 Ready is OFF at the subordinate axis of Linear
Linear interpolation command is executed.
interpolation
Main axis speed of linear interpolation Set low for main axis speed so that linear interpolation speed limit
261
exceeds its speed limit. would not exceeds.
Not possible to insert the circular because the Set low for position of 2 axis linear interpolation continuous
262 position of 2axis continuous linear interpolation operating circular insertion from expanded parameter, smaller than
circular insertion are longer than goal position. goal position.
Not possible to insert the circular because two lines of
Set again for goal position or set “0:Not insert circular” for 2 axis
263 2axis continuous linear interpolation circular insertion
linear interpolation continuous operating circular insertion.
are at the same position.

Error
Code
Set again for goal position so those two lines would not be at the
Not possible to insert the circular because the radius
same location or set “0:Not insert circular” for 2 axis linear
264 of 2axis continuous linear interpolation circular
interpolation continuous operating circular insertion then execute
insertion are bigger than 2147483647.
linear interpolation.
Not possible to insert the circular because the radius
Make bigger for circular insert position and less for speed limit or set
of 2axis continuous linear interpolation circular
265 “0:Not insert circular” for 2 axis linear interpolation continuous
insertion are rarely small or its speed limits are too
operating circular insertion then execute linear interpolation.
high.
Not possible to insert the circular because the Set again for goal position so those two lines would not be at the
circular of 2axis continuous linear interpolation same location or set “0:Not insert circular” for 2 axis linear
266
circular insertion are at the same position from interpolation continuous operating circular insertion then execute
where it is supposedly located. linear interpolation.
Interpolation operation can not be executed in upper / Execute the command after removing the upper / lower limit error
267
lower limit error or emergency stop state. of subordinate axis or releasing emergency stop state
Set radius setting from circular interpolation
Error of radius setting from radius circular
270 main axis operating data for 80% bigger than its
interpolation.
half distance of beginning point to end point.
Not possible to carry circular interpolation start in the
Check if main axis is in operation when circular interpolation
271 state that main axis of circular interpolation is in
operation.
Not possible to carry circular interpolation start in the
Check if subordinate axis is in operation when circular interpolation
272 state that subordinate axis of circular interpolation is in
operation
Not possible to carry circular interpolation start in the Check if M Code signal of main axis is ON when circular
275 state that M Code signal of main axis of circular interpolation command is executed. Available to make M Code
interpolation is ON. OFF by XPM_MOF command.
Not possible to carry circular interpolation start in the Check if M Code signal of subordinate axis is ON when circular
276 state that M Code signal of subordinate axis of circular interpolation command is executed. Available to make M Code
interpolation is ON. OFF by XPM_MOF command.
Not possible to carry positioning operation of absolute unsettled state. Check the coordinate of step to operate and the
277 coordinate in the state that main axis of circular current origin determination state. Available to carry out absolute
interpolation is origin unsettled. coordinate operation after origin determination by Homing
Not possible to carry positioning operation of absolute unsettled state. Check the coordinate of step to operate and the
278 coordinate in the state that subordinate axis of circular current origin determination state. Available to carry out absolute
interpolation is origin unsettled coordinate operation after origin determination by Homing
Incorrect setting of main axis from circular Execute circular interpolation after 1.Set one
Interpolation. (Either, unset main axis, more operational axis from circular interpolation
279
incorrect helical interpolation axis, exceeding data except main axis 2. Set one more operate
number of current possible operating axis) able axis from helical interpolation.
Not possible to carry out the operation as Drive Ready Check if Driver Ready signal of main axis is OFF when circular
280
is OFF in main axis of circular interpolation. interpolation command is executed.
Not possible to carry out the operation as Drive Ready Check if Driver Ready signal of subordinate axis 1 is OFF when
281
is OFF in subordinate axis of circular interpolation. circular interpolation command is executed.

Error
Code
Not possible to carry out degree operation in circular Check if the unit of Basic Parameter of main axis of circular
282
interpolation. interpolation command is set as degree.
Not possible to carry out degree operation in circular Check if the unit of Basic Parameter of subordinate axis of circular
283
interpolation. interpolation command is set as degree.
Not possible to carry out the operation if start point
Check if the center point or middle point is set as the same point as
284 =center point (middle point) or center point (middle
start point or end point in circular interpolation.
point) =end point in circular interpolation.
Check if circular interpolation method of
The start point and end point is Not possible to be
285 Common parameter is set as middle point and
same in the middle point mode of circular interpolation.
if the position of start point is not the same as end point..
The radius of the circle to carry out circular interpolation operation is
286 Radius setting error in circular interpolation. up to 2,147,483,647pulse. Check if it is set in order to carry out the
circular interpolation more than the size
Not possible to carry out the operation as linear profile Check if circular interpolation method of Common parameter is set
287 comes out of circular as Middle point and the middle point is set to be aligned with start
interpolation. point and end point.
Since angular velocity is greater than 90°, Set operation speed lower than 90° for circular
290
correct circle cannot be drawn. Interpolation angular velocity.
Check if the Error occurred axis is included in Synchronous Start
Not possible to carry out Synchronous Start command
291 command and if there is no axis in operation when the command is
in the state of in operation.
executed.
293 command and if M Code signal is ON when the command is
in the state of M Code ON.
executed. Available to make M Code OFF by XMOF command
Not possible to carry out Synchronous Start command command, and if the goal position of operation data of the step to
294
in case that there is no goal position. operate is not the same as the current position for absolute
coordinate and is set as “0” for relative coordinate.
295 command, and if Driver Ready signal is OFF when the command is
in the state that Servo Ready is OFF.
executed.
Check if only one axis of Simultenous Start command is assigned.
In case that Synchronous Start command axis setting
296 The axis assignment address means 0 bit : 1 axis, 1 bit :2Y axis, 2
is wrong.
bit : 3 axis, 3 bit : 4axis and each bit is set as “1” for axis assignment
An error occurred from axis of synchronous Execute synchronous start after eliminate an error
297
start operating. element from error occurred axis.
Not possible to carry out Speed/Position control Check if the axis is ‘stop’ state when speed/position control
301
switching command not in the state of in operation. switching command is executed.
Not possible to carry out Speed/Position control Check if the axis is ‘speed control’ state when speed/position control
302
switching command not in the state of speed control. switching command is executed.
Not possible to carry out Speed/Position control Check if the axis is in operation by subordinate axis of Synchronous
303 switching command at subordinate axis of Start operation when speed/position control switching command is
Synchronous Start operation. executed.

Error
Code
Not possible to carry out Speed/Position control Check if the operation has the goal position when speed /position
304
switching command if there is no goal position. control switching command is executed.
For "position specified speed/position switching
instruction", when "Unlimited length repetition= enable" For "position specified speed/position switching instruction", input
306 and "Speed/position switching coordinate=absolute", the positive position value for the forward direction and the negative
the position value which makes the object go in the position value for the reverse direction.
opposite direction is not valid.
Not possible to carry out Position/Speed control Check if the axis is ‘stop’ state when position/speed control
311
switching command not in the state of in operation. switching command is executed.
Not possible to carry out Position/Speed control Check if the axis is in operation by subordinate axis of Synchronous
312 switching command at subordinate axis of Start operation when position/speed control switching command is
Synchronous Start operation. executed.
Not possible to carry out Position/Speed control
Check if the axis is in circular interpolation operation when
313 switching command in the state of circular interpolation
position/speed control switching command is executed.
operation.
Not possible to carry out Position/Speed control
Check if the axis is in linear interpolation operation when
314 switching command in the state of Linear interpolation
position/speed control switching command is executed.
operation.
Not possible to carry out Position/Speed switching
Execute Position/Speed switching command before the decreasing
316 command in the state of decreasing
of axis, while in increasing section or regular section.
section.
Not possible to carry out Position/Speed switching
Execute Position/Speed switching command while the
317 command when it is not either at the positioning
commanding axis is positioning control or inching operation
control or inching operation
Not possible to carry out deceleration stop command Not possible to carry out deceleration stop command in the state of
322
in the state of Jog operation. Jog operation.
Deceleration time setting from deceleration The range of deceleration time is between0 and 2147483647.
324
stop commands are out of range. Execute deceleration command after set the value from its range.
Not possible to carry out Skip command not in the
331 Check if the axis is ‘stop’ state when Skip command is executed.
state of in operation.
Not possible to carry out Skip command for Check if the axis is in operation by subordinate axis of Linear
332
subordinate axis of Linear interpolation operation. interpolation when Skip command is executed.
Not possible to carry out Skip command for Check if the axis is in operation by subordinate axis of Synchronous
333
subordinate axis of Synchronous Start operation. Start operation when Skip command is executed.
Not possible to carry out Skip command in the state of Check if the axis is in Jog operation when Skip command is
335
Jog operation. executed.
Not possible to carry out Skip command in the state of Check if the axis is in Direct Start operation when Skip command is
336
Direct Start operation. executed.
Not possible to carry out Skip command in the state of Check if the axis is in Inching operation when Skip command is
337
Inching operation. executed.
Not possible to carry out Skip command for Check if the axis is in operation by subordinate axis of circular
338
subordinate axis of circular interpolationoperation. interpolation operation when Skip command is executed.

Error
Code
Not possible to carry out Synchronous Start by Check if the axis is in operation when Synchronous Start by Position
341
Position command in the state of in operation. command is executed.
Check if the M Code signal of the axis is ON when Synchronous
Not possible to carry out Synchronous Start by
343 Start by Position command is executed. Available to make M Code
Position command in the state of M Code ON.
OFF by XPM_MOF command.
Not possible to carry out Synchronous Start by unsettled state. Check the coordinate of step to operate and the
344 Position command at the absolute coordinate in the current origin determination state. Available to carry out absolute
state of origin unsettled. coordinate operation after origin determination by Homing command
Check if Driver Ready signal of the axis is OFF when Synchronous
345 Position command in the state that Servo Ready is
Start by Position command is executed.
OFF.
Check if main axis is in the origin unsettled state when Synchronous
346 Position command in the state that the origin of main
Start command is executed.
axis is not settled.
Check if main axis of Synchronous Start by Position command is set
There is error in setting main axis/subordinate axis of
347 as the same as command axis. Main axis is set by writing 1~6(Axis1
Synchronous Start by Position command.
~ Axis6) and 9~12(Encoder) to the setting address.
Not possible to carry out Synchronous Start by Speed Execute Synchronous Start by Speed command while main axis
350
command in the state of in operation of main axis. Is not operating when it is state of stop.
Not possible to carry out Synchronous Start by Speed Check if the axis is in operation when
351
command in the state of in operation. Synchronous Start by Speed command is executed.
Check if the M Code signal of the axis is ON when Synchronous
Not possible to carry out Synchronous Start by Speed
353 Start by Speed command is executed. Available to make M Code
command in the state of M Code ON.
OFF by XPM_MOF command.
Not possible to carry out Synchronous Start by Speed Check if Driver Ready signal of the axis is OFF when Synchronous
354
command in the state that Servo Ready is OFF. Start by speed command is executed.
Check if main axis of Synchronous Start by Speed command is set
There is error in setting main axis/subordinate axis of
355 as the same as command axis. Main axis is set by writing 1~6(Axis1
Synchronous Start by Speed command.
~ Axis6) and 9~12(Encoder) to the setting address.
There is error in main axis rate (main axis rate=0) of Main axis rate of Synchronous start by speed can't be 0. Set as -
356
Synchronous start by speed command. 32768 ~ 32767 except 0.
The speed of Synchronous Start by Speed command Set low for main axis ratio/second axis ratio values so
357
cannot exceeds its speed limit. The value would not exceed its limitation.
Not possible to carry out Position Override command Check if the axis is ‘stop’ state when Position Override command is
361
not in the state of in operation (Busy). executed.
Not possible to carry out Position Override command Check if the axis is in dwell when Position Override command is
362
not in the state of in dwell. executed..
Not possible to carry out Position Override command Check if the axis is in operation by position control when Position
363
not in the state of positioning operation. Override command is executed.
Not possible to carry out Position Override command Check if the axis is in Linear interpolation operation when Position
364
for the axis of Linear interpolation operation. Override command is executed.

Error
Code
Not possible to carry out Position Override command Check if the axis is in circular interpolation operation when Position
365
for the axis of circular interpolation operation. Override command is executed.
Not possible to carry out Position Override command Check if the axis is in operation by subordinate axis of Synchronous
366
for the subordinate axis of Synchronous operation. Start operation when Position Override command is executed.
Not possible to carry out Speed Override command
371 Check if the axis is ‘stop’ state when Speed Override is executed.
not in the state of in operation (Busy).
Speed value of Speed Override command should be less than or
372 Exceeds the range of speed override value. equal to max. speed set in Basic Parameter. Check the speed
value.
Not possible to carry out Speed Override command
Check if the axis is in operation by subordinate axis of Linear
373 for the subordinate axis of Linear interpolation
interpolation operation when Speed Override command is executed.
operation.
Not possible to carry out Speed Override command Check if the axis is in operation by subordinate axis of circular
374
for the axis of circular interpolation operation. interpolation operation when Speed Override command is executed.
Not possible to carry out Speed Override command Check if the axis is in operation by subordinate axis of Synchronous
375
for the subordinate axis of Synchronous operation. Start operation when Speed Override command is executed.
Not possible to carry out Speed Override command in Check if the axis is in the state of deceleration stop when Speed
377
the deceleration section. Override command is executed.
Not possible to carry out Speed Override command in Check if the acceleration/deceleration pattern of Extended
378
S-curve acceleration/deceleration pattern. Parameter of command axis is set as S-Curve.
Not possible to carry out Random position speed Check if the axis is ‘stop’ state when Random position speed
381
override command not in the state of in operation. override command is executed.
Not possible to carry out Random position speed Check if the axis is in speed control operation when Random
382
override command not in positioning operation. position speed override command is executed.
Speed value of Random position speed override command should
Exceeds the speed override value range of Random
383 be less than or equal to max. speed set in Basic Parameter. Check
position speed override command.
the speed value.
Not possible to carry out Random position speed Check if the axis is in operation by subordinate axis of Linear
384 override command for the subordinate axis of Linear interpolation operation when Random position speed override
interpolation operation. command is executed.
Not possible to carry out Random position speed
Check if the axis is in circular interpolation operation when Speed
385 override command for the axis of circular interpolation
Override command is executed.
operation.
Check if the axis is in operation by subordinate axis of Synchronous
386 override command for the subordinate axis of
Start operation when Speed Override command is executed.
Synchronous operation.
Check if the acceleration/deceleration pattern of Extended
389 override command in S-Curve
Parameter of command axis is set as S-Curve
acceleration / deceleration pattern.
Check if the acceleration/deceleration pattern of Extended
390 command in S-Curve acceleration/deceleration
Parameter of command axis is set as S-Curve
pattern.
Not possible to carry out Continuous operation Check if the axis is ‘stop’ state when Continuous operation
391
command not in the state of in operation. command is executed.
Not possible to carry out Continuous operation Check if the axis is in dwell when Continuous operation command is
392
command not in the state of in dwell. executed.

Error
Code
Not possible to carry out Continuous operation Check if the axis is in speed control operation
393 command not in the settled of positioning when Continuous operation command is
operation. executed.
Speed value of Continuous operation command should be less than
Speed data value of Continuous operation command
394 or equal to max. speed set in Basic Parameter. Check the speed
exceeds the allowable range.
value.
Not possible to carry out Continuous operation Check if the axis is in operation by subordinate axis of Linear
395 command for the subordinate axis of Linear interpolation operation when Continuous operation command is
interpolation operation. executed.
Check if the axis is in circular interpolation operation when
396 command for the axis of circular interpolation
Continuous operation command is executed.
operation axis.
Check if the axis is in operation by subordinate axis of Synchronous
397 command for the subordinate axis of Synchronous
Start operation when Continuous operation command is executed.
operation.
Not possible to carry out Continuous operation Check if the axis is in operation of 400th step when Continuous
399
command at the last step of Operation data. operation command is executed.
Not possible to carry out Continuous operation Check if the axis is in operation by Direct Start command that
400
command in the state of Direct Start operation. Continuous operation command is executed.
Not possible to carry out Inching command in the Check if the axis is in operation when Inching command is
401
state of in operation. executed.
Not possible to carry out Inching command in the Check if Drive Ready signal of the axis is OFF when Inching
403
state that Drive Ready is OFF. command is executed.
Not possible to carry out Jog Start command in the Check if the axis is in operation when Jog Start command is
411
state of in operation. executed.
Not possible to carry out Jog Start command in the Check if Driver Ready signal of the axis is OFF when Jog Start
413
state that Servo Ready is OFF. command is executed.
Not possible to carry out Return to the Position before Check if the axis is in operation when Return to the position before
431
Manual Operation in the state of in operation. manual operation command is executed .
Not possible to carry out Return to the Position before
Check if Driver Ready signal of the axis is ON when Return to the
434 Manual Operation in the state that Drive Ready is
position before manual operation command is executed.
OFF.
Not possible to carry out Start step no.
Check if the axis is in operation when Start step no. change /repeat
441 Change/Repeat Operation Start step no. assignment
command in the state of in operation.
Exceeds the step assignment range of Start step no. Check if the setting step value of Start step no. change command or
442 Change/Repeat Operation Start step no. assignment repeat operation start step no. assignment command is greater than
command. or equal to 1 and less than or equal to 400.
Not possible to carry out Current Position Preset Check if the axis is in operation when Current position preset
451
command in the state of in operation. command is executed.
Not possible to set the auxiliary position data value out
Check if the position value of current position preset command is
452 of range of software high/low limit while Current
within the range of soft high /low limit set in Extended Parameter.
Position Preset command is executed.
Not possible to carry out Position Teaching command Check if the axis is in operation when Position teaching command is
461
in the state of in operation. executed.

Error
Code
Not possible to carry out Teaching Array command for Check if the data no. of Teaching Array command is set in the
462
the data over 16. range that is greater than or equal to 1 and less than or equal to 16.
Not possible to carry out Speed Teaching command in Check if the axis is in operation when Speed teaching command is
463
the state of in operation. executed.
Error from step number appointing which are Make sure step for teaching operation is smaller than 400 or same
465
about to execute teaching operation. as 400.
Execute teaching command after set teaching
466 Teaching list error for multi teaching command.
data list as 0:position or 1:speed
Teaching method error for multi teaching Execute teaching command after set teaching
467
command. method as 0:position or 1:speed
Parameter teaching command cannot be Check if the axis was operating when parameter
471
Executed while its operating. teaching commands are executing
Operating data teaching command cannot be Check if the axis was operating when operating
472
Executed while its operating. Data teaching commands are executing
Execute teaching command after setting right
473 Set data cannot be teaching. value for parameter teaching data or operating
data teaching list.
Check if the axis is operating when Parameter/
Parameter/Operation data saving commands Operation data saving commands are operating. Execute
474
cannot be done while the axis is operating. Parameter/Operation command when
any axis are not operating.
Execute teaching command after setting value
475 Error of value for teaching data is out of range. of parameter teaching or operating data
teaching data among its set range.
Execute teaching command after setting value
of parameter teaching or operating data
476 Error of value for teaching method is out of range.
teaching data for 1(RAM teaching) or 2(ROM
teaching).
Parameter/operation data may be damaged because
Write parameter/operation data by "Writing Project" instruction at
477 of power failure during saving parameter/operation
SM-NM.
data.
Eliminate reason of emergency stop and execute XPM_CLR
481 Internal emergency stop
command to delete the error.
Eliminate reason of emergency stop and execute XPM_CLR
491 Error of external emergency stop
command to delete the error.
Be out of limited external upper signal rangeby using counter direct
492 Hard Upper Error jog command. Then execute XPM_CLR command to delete the
error.
Be out of limited external lower signal range by using direct jog
493 Hard Lower Error
command. Then execute XPM_CLR command to delete the error.
Be out of limited soft upper range by using counter direct jog
501 Soft Upper Error
command. Then execute XPM_CLR command to delete the error.
Be out of limited soft upper range by using direct jog command.
502 Soft Lower Error
Then execute XCLR command to delete the error.

Error
Code
Check the commands are appropriate. Look up the references for
511 Inappropriate command
COMMANDS.
512 Step number of auxiliary data is out of range. Commands set for bigger than 400. Set it Between 1 and 400.
The command cannot be done when the
522 signal of Drive Ready is OFF during the Execute again once Drive Ready is ON.
operation.
Error for Encoding number exceed from Execute Encoder preset command after set “0” For encoder
531
Encoder preset command. number.
Preset command cannot be done because
Execute Encoder preset when the encoder using axis is not
532 of the axis which using encoder as a main
operating
axis
535
Ellipse interpolation cannot be operated while Execute the Ellipse interpolation command when main axis is not
541
main axis of circular interpolation is operating. operating.
Ellipse interpolation cannot be operated while
Execute the circular interpolation command when subordinate axis
542 support axis of circular interpolation is
is not operating
operating.
Ellipse interpolation start cannot be operated
Execute Ellipse interpolation command after set M code from main
543 when M code from main axis circular
axis Ellipse interpolation is “OFF” with XPM_MOF command.
interpolation is “ON.”
Ellipse interpolation start cannot be operated Execute Ellipse interpolation command after set M code from
544 when M code from subordinate axis circular subordinate axis Ellipse interpolation is “OFF” with XPM_MOF
interpolation is “ON.” command.
Unable to execute the determine absolute coordinate
Execute Ellipse interpolation command after set main axis as a state
545 position operation when ellipse interpolation main axis
of being origin with homing command or floating origin setting.
is not positioned.
Unable to execute the determine absolute coordinate
Execute Ellipse interpolation command after set sub axis as a state
546 position operation when ellipse interpolation sub axis
of being origin with homing command or floating origin setting.
is not positioned.
Incorrect setting for main and subordinate axis
from Ellipse interpolation.(Unset for main/
Execute Ellipse interpolation after set a axis From subordinate axis
547 subordinate axis Set as Helical interpolation
setting beside its main axis and unset Helical interpolation.
Exceed number of possible current operating
Axis.)
Ellipse interpolation only can operate in center point setting. Execute
Ellipse interpolation cannot be operated with
548 Ellipse interpolation after changing operating data Ellipse
middle point setting and radius setting.
interpolation mode for center point setting.
Cannot be operated when Drive Ready of Execute Ellipse interpolation command after Drive Ready is “ON” of
549
Ellipse interpolation main axis is “OFF.” main axis.
Cannot be operated when Drive Ready of Execute Ellipse interpolation command after Drive Ready is “ON” of
550
Ellipse interpolation subordinate axis is “OFF.” subordinate axis.
Cannot be operated when unit of Ellipse Execute Ellipse interpolation command after Basic parameter unit is
551
interpolation main axis is “degree.” “degree” of main axis.
Cannot be operated when unit of Ellipse Execute Ellipse interpolation command after basic parameter unit is
552
interpolation subordinate axis is “degree.” “degree” of subordinate axis.
Cannot be operated when three parameters of
Execute Ellipse interpolation command after set those parameters
553 Ellipse interpolation are same.
differently. (start point, main point, end point)
(start point=main point=end point)

Error
Code
The range of possible execution for Ellipse Interpolation is between
554 Radius setting error from Ellipse interpolation. 0 and 2147483647. Set radius of circle from its range, smaller than
2147483647pulse.
Exact circle cannot be draw because of degree Set lower for operation speed so that degree
555
of Ellipse interpolation is bigger than 90° of Ellipse interpolation is smaller than 90°
Continuous operation cannot be done for Execute Ellipse interpolation after terminate
556
Ellipse interpolation. operation step of circular interpolation.
Execute Ellipse interpolation after change
Ellipse interpolation only can be operated
557 control setting for drive step of Ellipse
when control setting is circular interpolation.
interpolation to circular interpolation.
Operation cannot be executed when beginning Execute Ellipse interpolation after set the goal
558 point and end point of ellipse interpolation are Position of ellipse interpolation operating step
not same. Same as current position.
Operation cannot be executed when operating Set the value of operating degree for ellipse
559
degree of ellipse interpolation is “0.” interpolation, larger than “0.”(1~65535)
Check the error from subordinate axis of main
Operation cannot be executed because of error from
571 axis by current axis whether it is occurred
sub-coordinate axis of main axis by current axis.
during the operation of current axis.
Operation cannot be executed because of error Check the error from subordinate axis of main
572 from sub coordinate axis of main axis by axis by current axis whether it is occurred
interpolated axis. during the operation of interpolated axis.
Not possible to carry out CAM command in the Execute CAM command when main axis is not
701
state of in operation. operating.
Not possible to carry out CAM command in the Execute CAM command after set M Code OFF
702
state of M Code ON from commanding axis with XPM_MOF.
Not possible to carry out CAM command in the Execute CAM command when Drive Ready is
703
state that Drive Ready is OFF. “ON.”
Set main axis for CAM command as other axis
Error of setting main/subordinate axis from besides its command axis from connecting axis.
704
CAM command. Main axis is set by writing 1~6(Axis1 ~ Axis6) and 9~12(Encoder) to
the setting address.
CAM command of main axis cannot be Execute CAM command when the main axis
705
executed during the operation. setting of CAM command is not operating.
Execute CAM command after set a CAM block

Error of CAM block setting from CAM
706 from CAM command as bigger than 1 and
command.
smaller than 8.
Error for CAM data of appointed block from Execute CAM command after set right data for
707
CAM command. appointed block from CAM command.
Set lower speed for main axis so that speed of subordinate axis
The speed of subordinate axis from CAM
708 from CAM data which is calculated by subordinate position would
command cannot exceed its speed limit.
not exceed its speed limit.

Error
Code
The speed of the master axis of cam command is so
710 high that moving position per control period exceeds After slow down the speed of the master axis then operate the axis.
the master axis scope.
Data area setting value (block size and no. of block)
Set the block size and no. of block for [block size X no. of block] to
711 of Variable Data Read/Write command is out of
be 1~128.
range.
Variable Data Write command can’t be executed Check whether any axis is under operation when executing the
712
during operation. Variable Data Write command
In case the number of block is more than 2, set the block set to be
Block area of Variable Data Write command is
713 larger than block size. (Or set the block size to be smaller than block
overlapped so Writing is unavailable.
offset)
Restart is impossible, After the command that restart Before using restart command, check if the command that restart
721
is not supported like Circular interpolation, is not supported is used.
722 Restart command can’t be executed during operation. Check whether any axis is under operation.
The module (H / W) currently used does not support In order to use the setting position output function, please replace
733
the setting position output function. with the module (H / W) that supports the function
Current module of command axis is set Execute after set a possible operating number
801
lager than number of possible operating axis. of command axis for current module.
Previous command is not processed. It is impossible Check previous command is executed. If the process is finished,
811
to execute command additionally. execute other command additionally

Chapter 11 Internal Memory Address of “Read/Write Variable Data” command

11.1 Parameter memory address
Axis 1 Axis2 Axis3 Axis4 Axis5 Axis6
DEC HEX DEC HEX DEC HEX DEC HEX DEC HEX DEC HEX
0 0 80 50 160 A0 240 F0 320 140 400 190 Speed Limit (Low)
1 1 81 51 161 A1 241 F1 321 141 401 191 Speed Limit (High)
2 2 82 52 162 A2 242 F2 322 142 402 192 Bias Speed(Low)
3 3 83 53 163 A3 243 F3 323 143 403 193 Bias Speed(High)
4 4 84 54 164 A4 244 F4 324 144 404 194 Acc. time No.1 (Low)
5 5 85 55 165 A5 245 F5 325 145 405 195 Acc. time No.1 (High)
6 6 86 56 166 A6 246 F6 326 146 406 196 Acc. time No.2 (Low)
8 8 88 58 168 A8 248 F8 328 148 408 198 Acc. time No.3 (Low)
10 A 90 5A 170 AA 250 FA 330 14A 410 19A Acc. time No.4 (Low)
11 B 91 5B 171 AB 251 FB 331 14B 411 19B Acc. time No.4 (High)
12 C 92 5C 172 AC 252 FC 332 14C 412 19C Dec. time No.1 (Low)
13 D 93 5D 173 AD 253 FD 333 14D 413 19D Dec. time No.1 (High)
14 E 94 5E 174 AE 254 FE 334 14E 414 19E Dec. time No.2 (Low)
Basic 15 F 95 5F 175 AF 255 FF 335 14F 415 19F Dec. time No.2 (High)
Para 16 10 96 60 176 B0 256 100 336 150 416 1A0 Dec. time No.3 (Low)
meter 17 11 97 61 177 B1 257 101 337 151 417 1A1 Dec. time No.3 (High)
18 12 98 62 178 B2 258 102 338 152 418 1A2 Dec. time No.4 (Low)
19 13 99 63 179 B3 259 103 339 153 419 1A3 Dec. time No.4 (High)
Dec. time for EMG stop
20 14 100 64 180 B4 260 104 340 154 420 1A4
(Low)
Dec. time for EMG stop
21 15 101 65 181 B5 261 105 341 155 421 1A5
(High)
Pulse per rotation
22 16 102 66 182 B6 262 106 342 156 422 1A6
(Low)
Pulse per rotation
23 17 103 67 183 B7 263 107 343 157 423 1A7
(High)
Distance per rotation
24 18 104 68 184 B8 264 108 344 158 424 1A8
(Low)
Distance per rotation
25 19 105 69 185 B9 265 109 345 159 425 1A9
(High)
26 1A 106 6A 186 BA 266 10A 346 15A 426 1AA CONTROL WORD
27 1B 107 6B 187 BB 267 10B 347 15B 427 1AB Rsvd.
28 1C 108 6C 188 BC 268 10C 348 15C 428 1AC S/W upper limit (Low)
Exten
29 1D 109 6D 189 BD 269 10D 349 15D 429 1AD S/W upper limit (High)
ded
30 1E 110 6E 190 BE 270 10E 350 15E 430 1AE S/W lower limit (Low)
Para
31 1F 111 6F 191 BF 271 10F 351 15F 431 1AF S/W lower limit (High)
meter
32 20 112 70 192 C0 272 110 352 160 432 1B0 Backlash

compensation
Position completion
33 21 113 71 193 C1 273 111 353 161 433 1B1
time
34 22 114 72 194 C2 274 112 354 162 434 1B2 S-Curve Ratio
35 23 115 73 195 C3 275 113 355 163 435 1B3 Rsvd.
Infinite repeat position
36 24 116 74 196 C4 276 114 356 164 436 1B4
(Low)
Infinite repeat position
37 25 117 75 197 C5 277 115 357 165 437 1B5
(High)
Continuous
38 26 118 76 198 C6 278 116 358 166 438 1B6 interpolation
radius(Low)
Continuous
39 27 119 77 199 C7 279 117 359 167 439 1B7 interpolation
radius(High)
40 28 120 78 200 C8 280 118 360 168 440 1B8 CONTROL WORD
41 29 121 79 201 C9 281 119 361 169 441 1B9 Rsvd.
42 2A 122 7A 202 CA 282 11A 362 16A 442 1BA JOG high speed (Low)
43 2B 123 7B 203 CB 283 11B 363 16B 443 1BB JOG high speed (High)
Manu 44 2C 124 7C 204 CC 284 11C 364 16C 444 1BC JOG low speed (Low)
al 45 2D 125 7D 205 CD 285 11D 365 16D 445 1BD JOG low speed (High)
Opera 46 2E 126 7E 206 CE 286 11E 366 16E 446 1BE JOG Acc. time (Low)
tion 47 2F 127 7F 207 CF 287 11F 367 16F 447 1BF JOG Acc. time (High)
Para 48 30 128 80 208 D0 288 120 368 170 448 1C0 JOG Dec. time (Low)
meter 49 31 129 81 209 D1 289 121 369 171 449 1C1 JOG Dec. time (High)
50 32 130 82 210 D2 290 122 370 172 450 1C2 Inching speed
51 33 131 83 211 D3 291 123 371 173 451 1C3 Rsvd.
52 34 132 84 212 D4 292 124 372 174 452 1C4 Home position (Low)
53 35 133 85 213 D5 293 125 373 175 453 1C5 Home position (High)
Homing high speed
54 36 134 86 214 D6 294 126 374 176 454 1C6
(Low)
Homing high speed
55 37 135 87 215 D7 295 127 375 177 455 1C7
(High)
Homing low speed
56 38 136 88 216 D8 296 128 376 178 456 1C8
Homi (Low)
ng Homing low speed
57 39 137 89 217 D9 297 129 377 179 457 1C9
Para (High)
meter Homing Acc. time
58 3A 138 8A 218 DA 298 12A 378 17A 458 1CA
(Low)
Homing Acc. time
59 3B 139 8B 219 DB 299 12B 379 17B 459 1CB
(High)
Homing Dec. time
60 3C 140 8C 220 DC 300 12C 380 17C 460 1CC
(Low)
Homing Dec. time
61 3D 141 8D 221 DD 301 12D 381 17D 461 1CD
(High)

Home compensation
62 3E 142 8E 222 DE 302 12E 382 17E 462 1CE
(Low)
Home compensation
63 3F 143 8F 223 DF 303 12F 383 17F 463 1CF
(High)
64 40 144 90 224 E0 304 130 384 180 464 1D0 Homing restart time
65 41 145 91 225 E1 305 131 385 181 465 1D1 Homing dwell time
66 42 146 92 226 E2 306 132 386 182 466 1D2 CONTROL WORD
67 43 147 93 227 E3 307 133 387 183 467 1D3 Rsvd.
68 44 148 94 228 E4 308 134 388 184 468 1D4 CONTROL WORD
69 45 149 95 229 E5 309 135 389 185 469 1D5 Rsvd.
Upper limit signal
70 46 150 96 230 E6 310 136 390 186 470 1D6
WORD OFFSET
Upper limit signal bit
71 47 151 97 231 E7 311 137 391 187 471 1D7
Index
Lower limit signal
72 48 152 98 232 E8 312 138 392 188 472 1D8
WORD OFFSET
I/O Lower limit signal bit
73 49 153 99 233 E9 313 139 393 189 473 1D9
Signal Index
Para DOG signal WORD
74 4A 154 9A 234 EA 314 13A 394 18A 474 1DA
meter OFFSET
75 4B 155 9B 235 EB 315 13B 395 18B 475 1DB DOG signal bit Index
Home signal WORD
76 4C 156 9C 236 EC 316 13C 396 18C 476 1DC
OFFSET
77 4D 157 9D 237 ED 317 13D 397 18D 477 1DD Home signal bit Index
Deviation clear signal
78 4E 158 9E 238 EE 318 13E 398 18E 478 1DE
WORD OFFSET
Deviation clear signal
79 4F 159 9F 239 EF 319 13F 399 18F 479 1DF
bit Index
640 280 CONTROL WORD
641 281 Rsvd.
642 282 Rsvd.
Com 643 283 Rsvd.
mon 644 284 Rsvd.
Para 645 285 Rsvd.
meter 646 286 Rsvd.
647 287 Rsvd.
648 288 Rsvd.
649 289 Rsvd.

(1) Basic parameter Control Word

Bit position Contents
0: pulse
1: mm
Unit (bit 2 ~ 3)
2: inch
3: degree
0: x1
1: x10
Unit multiplier (bit 4 ~ 5)
2: x100
3: x1000
0:Unit/Time
Speed command unit (bit 6)
1:rpm
(2) Extended parameter Control Word

Pulse output direction (bit 0) 0: CW, 1: CCW
Acceleration/Deceleration pattern (bit 1) 0:Trapezoid operation, 1:S-Curve operation
M Code mode(bit 2 ~ 3) 0: NONE, 1: WITH, 2: AFTER
Interpolation speed selection (bit 4) 0: main axis speed, 1: synthetic speed
Software limit detection
0:Don’t detect, 1: Detect
during speed control (bit 5)
Reserved (bit6) -
External stop selection (bit7) 0: Emergency stop, 1: Deceleration stop
Speed/Position switching coordinate (bit 9) 0: Incremental, 1: Absolute
Reserved (bit 10 ~ 11) -
Infinite running repeat (bit 12) 0: Disable, 1: Enable
Interpolation continuous operation Type (bit 13) 0 : Pass target position, 1 : Pass near position
Arc insertion in 2-axis linear interpolation
0 : Don’t insert , 1 : Insert arc continuous operation
continuous operation (bit 14)
Pos.-specified speed override coordinate(bit 15) 0: absolute, 1: incremental
(3) Homing parameter Control Word

0: DOG/HOME(OFF)
1: DOG/HOME(ON)
2: U.L. Limit/HOME
Home method (bit 0 ~ 2) 3: DOG
4: High speed
5: Upper/lower limit
6: Home
0: Forward
Home direction (bit 3)
1: Reverse

(4) I/O signal parameter Control Word

Bit position and contents
bit0~1: upper limit signal 0: N/A
bit2~3: lower limit signal 1: A contact
bit4~5: DOG 2. B contact
bit6~7: HOME
bit8~9: Deviation Clear
(5) Common parameter Control Word

Control cycle (bit4 ~ 7) 1ms~10ms
0: Specify %
Speed override (bit 8)
1: Specify speed
0: Low Active
Pulse output level (bit 15)
1: High Active

11.2 Axis 1 operation data memory address

Target Cir. int. auxiliary Operation Circul
position point speed Dwell M Sub. Axis Helic Control
Step ar int.
time code setting al int. word
Low High Low High Low High turns
1 650 651 652 653 654 655 656 657 658 659 660 661
2 662 663 664 665 666 667 668 669 670 671 672 673
3 674 675 676 677 678 679 680 681 682 683 684 685
4 686 687 688 689 690 691 692 693 694 695 696 697
5 698 699 700 701 702 703 704 705 706 707 708 709
6 710 711 712 713 714 715 716 717 718 719 720 721
7 722 723 724 725 726 727 728 729 730 731 732 733
8 734 735 736 737 738 739 740 741 742 743 744 745
9 746 747 748 749 750 751 752 753 754 755 756 757
10 758 759 760 761 762 763 764 765 766 767 768 769
11 770 771 772 773 774 775 776 777 778 779 780 781
12 782 783 784 785 786 787 788 789 790 791 792 793
13 794 795 796 797 798 799 800 801 802 803 804 805
14 806 807 808 809 810 811 812 813 814 815 816 817
15 818 819 820 821 822 823 824 825 826 827 828 829
16 830 831 832 833 834 835 836 837 838 839 840 841
17 842 843 844 845 846 847 848 849 850 851 852 853
18 854 855 856 857 858 859 860 861 862 863 864 865
19 866 867 868 869 870 871 872 873 874 875 876 877
20 878 879 880 881 882 883 884 885 886 887 888 889
21 890 891 892 893 894 895 896 897 898 899 900 901
22 902 903 904 905 906 907 908 909 910 911 912 913
23 914 915 916 917 918 919 920 921 922 923 924 925
24 926 927 928 929 930 931 932 933 934 935 936 937
25 938 939 940 941 942 943 944 945 946 947 948 949
26 950 951 952 953 954 955 956 957 958 959 960 961
27 962 963 964 965 966 967 968 969 970 971 972 973
28 974 975 976 977 978 979 980 981 982 983 984 985
29 986 987 988 989 990 991 992 993 994 995 996 997
30 998 999 1000 1001 1002 1003 1004 1005 1006 1007 1008 1009
31 1010 1011 1012 1013 1014 1015 1016 1017 1018 1019 1020 1021
32 1022 1023 1024 1025 1026 1027 1028 1029 1030 1031 1032 1033
33 1034 1035 1036 1037 1038 1039 1040 1041 1042 1043 1044 1045
34 1046 1047 1048 1049 1050 1051 1052 1053 1054 1055 1056 1057
35 1058 1059 1060 1061 1062 1063 1064 1065 1066 1067 1068 1069
36 1070 1071 1072 1073 1074 1075 1076 1077 1078 1079 1080 1081
37 1082 1083 1084 1085 1086 1087 1088 1089 1090 1091 1092 1093
38 1094 1095 1096 1097 1098 1099 1100 1101 1102 1103 1104 1105
39 1106 1107 1108 1109 1110 1111 1112 1113 1114 1115 1116 1117
40 1118 1119 1120 1121 1122 1123 1124 1125 1126 1127 1128 1129
41 1130 1131 1132 1133 1134 1135 1136 1137 1138 1139 1140 1141
42 1142 1143 1144 1145 1146 1147 1148 1149 1150 1151 1152 1153

43 1154 1155 1156 1157 1158 1159 1160 1161 1162 1163 1164 1165
44 1166 1167 1168 1169 1170 1171 1172 1173 1174 1175 1176 1177
45 1178 1179 1180 1181 1182 1183 1184 1185 1186 1187 1188 1189
46 1190 1191 1192 1193 1194 1195 1196 1197 1198 1199 1200 1201
47 1202 1203 1204 1205 1206 1207 1208 1209 1210 1211 1212 1213
48 1214 1215 1216 1217 1218 1219 1220 1221 1222 1223 1224 1225
49 1226 1227 1228 1229 1230 1231 1232 1233 1234 1235 1236 1237
50 1238 1239 1240 1241 1242 1243 1244 1245 1246 1247 1248 1249
51 1250 1251 1252 1253 1254 1255 1256 1257 1258 1259 1260 1261
52 1262 1263 1264 1265 1266 1267 1268 1269 1270 1271 1272 1273
53 1274 1275 1276 1277 1278 1279 1280 1281 1282 1283 1284 1285
54 1286 1287 1288 1289 1290 1291 1292 1293 1294 1295 1296 1297
55 1298 1299 1300 1301 1302 1303 1304 1305 1306 1307 1308 1309
56 1310 1311 1312 1313 1314 1315 1316 1317 1318 1319 1320 1321
57 1322 1323 1324 1325 1326 1327 1328 1329 1330 1331 1332 1333
58 1334 1335 1336 1337 1338 1339 1340 1341 1342 1343 1344 1345
59 1346 1347 1348 1349 1350 1351 1352 1353 1354 1355 1356 1357
60 1358 1359 1360 1361 1362 1363 1364 1365 1366 1367 1368 1369
61 1370 1371 1372 1373 1374 1375 1376 1377 1378 1379 1380 1381
62 1382 1383 1384 1385 1386 1387 1388 1389 1390 1391 1392 1393
63 1394 1395 1396 1397 1398 1399 1400 1401 1402 1403 1404 1405
64 1406 1407 1408 1409 1410 1411 1412 1413 1414 1415 1416 1417
65 1418 1419 1420 1421 1422 1423 1424 1425 1426 1427 1428 1429
66 1430 1431 1432 1433 1434 1435 1436 1437 1438 1439 1440 1441
67 1442 1443 1444 1445 1446 1447 1448 1449 1450 1451 1452 1453
68 1454 1455 1456 1457 1458 1459 1460 1461 1462 1463 1464 1465
69 1466 1467 1468 1469 1470 1471 1472 1473 1474 1475 1476 1477
70 1478 1479 1480 1481 1482 1483 1484 1485 1486 1487 1488 1489
71 1490 1491 1492 1493 1494 1495 1496 1497 1498 1499 1500 1501
72 1502 1503 1504 1505 1506 1507 1508 1509 1510 1511 1512 1513
73 1514 1515 1516 1517 1518 1519 1520 1521 1522 1523 1524 1525
74 1526 1527 1528 1529 1530 1531 1532 1533 1534 1535 1536 1537
75 1538 1539 1540 1541 1542 1543 1544 1545 1546 1547 1548 1549
76 1550 1551 1552 1553 1554 1555 1556 1557 1558 1559 1560 1561
77 1562 1563 1564 1565 1566 1567 1568 1569 1570 1571 1572 1573
78 1574 1575 1576 1577 1578 1579 1580 1581 1582 1583 1584 1585
79 1586 1587 1588 1589 1590 1591 1592 1593 1594 1595 1596 1597
80 1598 1599 1600 1601 1602 1603 1604 1605 1606 1607 1608 1609
81 1610 1611 1612 1613 1614 1615 1616 1617 1618 1619 1620 1621
82 1622 1623 1624 1625 1626 1627 1628 1629 1630 1631 1632 1633
83 1634 1635 1636 1637 1638 1639 1640 1641 1642 1643 1644 1645
84 1646 1647 1648 1649 1650 1651 1652 1653 1654 1655 1656 1657
85 1658 1659 1660 1661 1662 1663 1664 1665 1666 1667 1668 1669
86 1670 1671 1672 1673 1674 1675 1676 1677 1678 1679 1680 1681
87 1682 1683 1684 1685 1686 1687 1688 1689 1690 1691 1692 1693
88 1694 1695 1696 1697 1698 1699 1700 1701 1702 1703 1704 1705

89 1706 1707 1708 1709 1710 1711 1712 1713 1714 1715 1716 1717
90 1718 1719 1720 1721 1722 1723 1724 1725 1726 1727 1728 1729
91 1730 1731 1732 1733 1734 1735 1736 1737 1738 1739 1740 1741
92 1742 1743 1744 1745 1746 1747 1748 1749 1750 1751 1752 1753
93 1754 1755 1756 1757 1758 1759 1760 1761 1762 1763 1764 1765
94 1766 1767 1768 1769 1770 1771 1772 1773 1774 1775 1776 1777
95 1778 1779 1780 1781 1782 1783 1784 1785 1786 1787 1788 1789
96 1790 1791 1792 1793 1794 1795 1796 1797 1798 1799 1800 1801
97 1802 1803 1804 1805 1806 1807 1808 1809 1810 1811 1812 1813
98 1814 1815 1816 1817 1818 1819 1820 1821 1822 1823 1824 1825
99 1826 1827 1828 1829 1830 1831 1832 1833 1834 1835 1836 1837
100 1838 1839 1840 1841 1842 1843 1844 1845 1846 1847 1848 1849
101 1850 1851 1852 1853 1854 1855 1856 1857 1858 1859 1860 1861
102 1862 1863 1864 1865 1866 1867 1868 1869 1870 1871 1872 1873
103 1874 1875 1876 1877 1878 1879 1880 1881 1882 1883 1884 1885
104 1886 1887 1888 1889 1890 1891 1892 1893 1894 1895 1896 1897
105 1898 1899 1900 1901 1902 1903 1904 1905 1906 1907 1908 1909
106 1910 1911 1912 1913 1914 1915 1916 1917 1918 1919 1920 1921
107 1922 1923 1924 1925 1926 1927 1928 1929 1930 1931 1932 1933
108 1934 1935 1936 1937 1938 1939 1940 1941 1942 1943 1944 1945
109 1946 1947 1948 1949 1950 1951 1952 1953 1954 1955 1956 1957
110 1958 1959 1960 1961 1962 1963 1964 1965 1966 1967 1968 1969
111 1970 1971 1972 1973 1974 1975 1976 1977 1978 1979 1980 1981
112 1982 1983 1984 1985 1986 1987 1988 1989 1990 1991 1992 1993
113 1994 1995 1996 1997 1998 1999 2000 2001 2002 2003 2004 2005
114 2006 2007 2008 2009 2010 2011 2012 2013 2014 2015 2016 2017
115 2018 2019 2020 2021 2022 2023 2024 2025 2026 2027 2028 2029
116 2030 2031 2032 2033 2034 2035 2036 2037 2038 2039 2040 2041
117 2042 2043 2044 2045 2046 2047 2048 2049 2050 2051 2052 2053
118 2054 2055 2056 2057 2058 2059 2060 2061 2062 2063 2064 2065
119 2066 2067 2068 2069 2070 2071 2072 2073 2074 2075 2076 2077
120 2078 2079 2080 2081 2082 2083 2084 2085 2086 2087 2088 2089
121 2090 2091 2092 2093 2094 2095 2096 2097 2098 2099 2100 2101
122 2102 2103 2104 2105 2106 2107 2108 2109 2110 2111 2112 2113
123 2114 2115 2116 2117 2118 2119 2120 2121 2122 2123 2124 2125
124 2126 2127 2128 2129 2130 2131 2132 2133 2134 2135 2136 2137
125 2138 2139 2140 2141 2142 2143 2144 2145 2146 2147 2148 2149
126 2150 2151 2152 2153 2154 2155 2156 2157 2158 2159 2160 2161
127 2162 2163 2164 2165 2166 2167 2168 2169 2170 2171 2172 2173
128 2174 2175 2176 2177 2178 2179 2180 2181 2182 2183 2184 2185
129 2186 2187 2188 2189 2190 2191 2192 2193 2194 2195 2196 2197
130 2198 2199 2200 2201 2202 2203 2204 2205 2206 2207 2208 2209
131 2210 2211 2212 2213 2214 2215 2216 2217 2218 2219 2220 2221
132 2222 2223 2224 2225 2226 2227 2228 2229 2230 2231 2232 2233
133 2234 2235 2236 2237 2238 2239 2240 2241 2242 2243 2244 2245
134 2246 2247 2248 2249 2250 2251 2252 2253 2254 2255 2256 2257

135 2258 2259 2260 2261 2262 2263 2264 2265 2266 2267 2268 2269
136 2270 2271 2272 2273 2274 2275 2276 2277 2278 2279 2280 2281
137 2282 2283 2284 2285 2286 2287 2288 2289 2290 2291 2292 2293
138 2294 2295 2296 2297 2298 2299 2300 2301 2302 2303 2304 2305
139 2306 2307 2308 2309 2310 2311 2312 2313 2314 2315 2316 2317
140 2318 2319 2320 2321 2322 2323 2324 2325 2326 2327 2328 2329
141 2330 2331 2332 2333 2334 2335 2336 2337 2338 2339 2340 2341
142 2342 2343 2344 2345 2346 2347 2348 2349 2350 2351 2352 2353
143 2354 2355 2356 2357 2358 2359 2360 2361 2362 2363 2364 2365
144 2366 2367 2368 2369 2370 2371 2372 2373 2374 2375 2376 2377
145 2378 2379 2380 2381 2382 2383 2384 2385 2386 2387 2388 2389
146 2390 2391 2392 2393 2394 2395 2396 2397 2398 2399 2400 2401
147 2402 2403 2404 2405 2406 2407 2408 2409 2410 2411 2412 2413
148 2414 2415 2416 2417 2418 2419 2420 2421 2422 2423 2424 2425
149 2426 2427 2428 2429 2430 2431 2432 2433 2434 2435 2436 2437
150 2438 2439 2440 2441 2442 2443 2444 2445 2446 2447 2448 2449
151 2450 2451 2452 2453 2454 2455 2456 2457 2458 2459 2460 2461
152 2462 2463 2464 2465 2466 2467 2468 2469 2470 2471 2472 2473
153 2474 2475 2476 2477 2478 2479 2480 2481 2482 2483 2484 2485
154 2486 2487 2488 2489 2490 2491 2492 2493 2494 2495 2496 2497
155 2498 2499 2500 2501 2502 2503 2504 2505 2506 2507 2508 2509
156 2510 2511 2512 2513 2514 2515 2516 2517 2518 2519 2520 2521
157 2522 2523 2524 2525 2526 2527 2528 2529 2530 2531 2532 2533
158 2534 2535 2536 2537 2538 2539 2540 2541 2542 2543 2544 2545
159 2546 2547 2548 2549 2550 2551 2552 2553 2554 2555 2556 2557
160 2558 2559 2560 2561 2562 2563 2564 2565 2566 2567 2568 2569
161 2570 2571 2572 2573 2574 2575 2576 2577 2578 2579 2580 2581
162 2582 2583 2584 2585 2586 2587 2588 2589 2590 2591 2592 2593
163 2594 2595 2596 2597 2598 2599 2600 2601 2602 2603 2604 2605
164 2606 2607 2608 2609 2610 2611 2612 2613 2614 2615 2616 2617
165 2618 2619 2620 2621 2622 2623 2624 2625 2626 2627 2628 2629
166 2630 2631 2632 2633 2634 2635 2636 2637 2638 2639 2640 2641
167 2642 2643 2644 2645 2646 2647 2648 2649 2650 2651 2652 2653
168 2654 2655 2656 2657 2658 2659 2660 2661 2662 2663 2664 2665
169 2666 2667 2668 2669 2670 2671 2672 2673 2674 2675 2676 2677
170 2678 2679 2680 2681 2682 2683 2684 2685 2686 2687 2688 2689
171 2690 2691 2692 2693 2694 2695 2696 2697 2698 2699 2700 2701
172 2702 2703 2704 2705 2706 2707 2708 2709 2710 2711 2712 2713
173 2714 2715 2716 2717 2718 2719 2720 2721 2722 2723 2724 2725
174 2726 2727 2728 2729 2730 2731 2732 2733 2734 2735 2736 2737
175 2738 2739 2740 2741 2742 2743 2744 2745 2746 2747 2748 2749
176 2750 2751 2752 2753 2754 2755 2756 2757 2758 2759 2760 2761
177 2762 2763 2764 2765 2766 2767 2768 2769 2770 2771 2772 2773
178 2774 2775 2776 2777 2778 2779 2780 2781 2782 2783 2784 2785
179 2786 2787 2788 2789 2790 2791 2792 2793 2794 2795 2796 2797
180 2798 2799 2800 2801 2802 2803 2804 2805 2806 2807 2808 2809

181 2810 2811 2812 2813 2814 2815 2816 2817 2818 2819 2820 2821
182 2822 2823 2824 2825 2826 2827 2828 2829 2830 2831 2832 2833
183 2834 2835 2836 2837 2838 2839 2840 2841 2842 2843 2844 2845
184 2846 2847 2848 2849 2850 2851 2852 2853 2854 2855 2856 2857
185 2858 2859 2860 2861 2862 2863 2864 2865 2866 2867 2868 2869
186 2870 2871 2872 2873 2874 2875 2876 2877 2878 2879 2880 2881
187 2882 2883 2884 2885 2886 2887 2888 2889 2890 2891 2892 2893
188 2894 2895 2896 2897 2898 2899 2900 2901 2902 2903 2904 2905
189 2906 2907 2908 2909 2910 2911 2912 2913 2914 2915 2916 2917
190 2918 2919 2920 2921 2922 2923 2924 2925 2926 2927 2928 2929
191 2930 2931 2932 2933 2934 2935 2936 2937 2938 2939 2940 2941
192 2942 2943 2944 2945 2946 2947 2948 2949 2950 2951 2952 2953
193 2954 2955 2956 2957 2958 2959 2960 2961 2962 2963 2964 2965
194 2966 2967 2968 2969 2970 2971 2972 2973 2974 2975 2976 2977
195 2978 2979 2980 2981 2982 2983 2984 2985 2986 2987 2988 2989
196 2990 2991 2992 2993 2994 2995 2996 2997 2998 2999 3000 3001
197 3002 3003 3004 3005 3006 3007 3008 3009 3010 3011 3012 3013
198 3014 3015 3016 3017 3018 3019 3020 3021 3022 3023 3024 3025
199 3026 3027 3028 3029 3030 3031 3032 3033 3034 3035 3036 3037
200 3038 3039 3040 3041 3042 3043 3044 3045 3046 3047 3048 3049
201 3050 3051 3052 3053 3054 3055 3056 3057 3058 3059 3060 3061
202 3062 3063 3064 3065 3066 3067 3068 3069 3070 3071 3072 3073
203 3074 3075 3076 3077 3078 3079 3080 3081 3082 3083 3084 3085
204 3086 3087 3088 3089 3090 3091 3092 3093 3094 3095 3096 3097
205 3098 3099 3100 3101 3102 3103 3104 3105 3106 3107 3108 3109
206 3110 3111 3112 3113 3114 3115 3116 3117 3118 3119 3120 3121
207 3122 3123 3124 3125 3126 3127 3128 3129 3130 3131 3132 3133
208 3134 3135 3136 3137 3138 3139 3140 3141 3142 3143 3144 3145
209 3146 3147 3148 3149 3150 3151 3152 3153 3154 3155 3156 3157
210 3158 3159 3160 3161 3162 3163 3164 3165 3166 3167 3168 3169
211 3170 3171 3172 3173 3174 3175 3176 3177 3178 3179 3180 3181
212 3182 3183 3184 3185 3186 3187 3188 3189 3190 3191 3192 3193
213 3194 3195 3196 3197 3198 3199 3200 3201 3202 3203 3204 3205
214 3206 3207 3208 3209 3210 3211 3212 3213 3214 3215 3216 3217
215 3218 3219 3220 3221 3222 3223 3224 3225 3226 3227 3228 3229
216 3230 3231 3232 3233 3234 3235 3236 3237 3238 3239 3240 3241
217 3242 3243 3244 3245 3246 3247 3248 3249 3250 3251 3252 3253
218 3254 3255 3256 3257 3258 3259 3260 3261 3262 3263 3264 3265
219 3266 3267 3268 3269 3270 3271 3272 3273 3274 3275 3276 3277
220 3278 3279 3280 3281 3282 3283 3284 3285 3286 3287 3288 3289
221 3290 3291 3292 3293 3294 3295 3296 3297 3298 3299 3300 3301
222 3302 3303 3304 3305 3306 3307 3308 3309 3310 3311 3312 3313
223 3314 3315 3316 3317 3318 3319 3320 3321 3322 3323 3324 3325
224 3326 3327 3328 3329 3330 3331 3332 3333 3334 3335 3336 3337
225 3338 3339 3340 3341 3342 3343 3344 3345 3346 3347 3348 3349
226 3350 3351 3352 3353 3354 3355 3356 3357 3358 3359 3360 3361

227 3362 3363 3364 3365 3366 3367 3368 3369 3370 3371 3372 3373
228 3374 3375 3376 3377 3378 3379 3380 3381 3382 3383 3384 3385
229 3386 3387 3388 3389 3390 3391 3392 3393 3394 3395 3396 3397
230 3398 3399 3400 3401 3402 3403 3404 3405 3406 3407 3408 3409
231 3410 3411 3412 3413 3414 3415 3416 3417 3418 3419 3420 3421
232 3422 3423 3424 3425 3426 3427 3428 3429 3430 3431 3432 3433
233 3434 3435 3436 3437 3438 3439 3440 3441 3442 3443 3444 3445
234 3446 3447 3448 3449 3450 3451 3452 3453 3454 3455 3456 3457
235 3458 3459 3460 3461 3462 3463 3464 3465 3466 3467 3468 3469
236 3470 3471 3472 3473 3474 3475 3476 3477 3478 3479 3480 3481
237 3482 3483 3484 3485 3486 3487 3488 3489 3490 3491 3492 3493
238 3494 3495 3496 3497 3498 3499 3500 3501 3502 3503 3504 3505
239 3506 3507 3508 3509 3510 3511 3512 3513 3514 3515 3516 3517
240 3518 3519 3520 3521 3522 3523 3524 3525 3526 3527 3528 3529
241 3530 3531 3532 3533 3534 3535 3536 3537 3538 3539 3540 3541
242 3542 3543 3544 3545 3546 3547 3548 3549 3550 3551 3552 3553
243 3554 3555 3556 3557 3558 3559 3560 3561 3562 3563 3564 3565
244 3566 3567 3568 3569 3570 3571 3572 3573 3574 3575 3576 3577
245 3578 3579 3580 3581 3582 3583 3584 3585 3586 3587 3588 3589
246 3590 3591 3592 3593 3594 3595 3596 3597 3598 3599 3600 3601
247 3602 3603 3604 3605 3606 3607 3608 3609 3610 3611 3612 3613
248 3614 3615 3616 3617 3618 3619 3620 3621 3622 3623 3624 3625
249 3626 3627 3628 3629 3630 3631 3632 3633 3634 3635 3636 3637
250 3638 3639 3640 3641 3642 3643 3644 3645 3646 3647 3648 3649
251 3650 3651 3652 3653 3654 3655 3656 3657 3658 3659 3660 3661
252 3662 3663 3664 3665 3666 3667 3668 3669 3670 3671 3672 3673
253 3674 3675 3676 3677 3678 3679 3680 3681 3682 3683 3684 3685
254 3686 3687 3688 3689 3690 3691 3692 3693 3694 3695 3696 3697
255 3698 3699 3700 3701 3702 3703 3704 3705 3706 3707 3708 3709
256 3710 3711 3712 3713 3714 3715 3716 3717 3718 3719 3720 3721
257 3722 3723 3724 3725 3726 3727 3728 3729 3730 3731 3732 3733
258 3734 3735 3736 3737 3738 3739 3740 3741 3742 3743 3744 3745
259 3746 3747 3748 3749 3750 3751 3752 3753 3754 3755 3756 3757
260 3758 3759 3760 3761 3762 3763 3764 3765 3766 3767 3768 3769
261 3770 3771 3772 3773 3774 3775 3776 3777 3778 3779 3780 3781
262 3782 3783 3784 3785 3786 3787 3788 3789 3790 3791 3792 3793
263 3794 3795 3796 3797 3798 3799 3800 3801 3802 3803 3804 3805
264 3806 3807 3808 3809 3810 3811 3812 3813 3814 3815 3816 3817
265 3818 3819 3820 3821 3822 3823 3824 3825 3826 3827 3828 3829
266 3830 3831 3832 3833 3834 3835 3836 3837 3838 3839 3840 3841
267 3842 3843 3844 3845 3846 3847 3848 3849 3850 3851 3852 3853
268 3854 3855 3856 3857 3858 3859 3860 3861 3862 3863 3864 3865
269 3866 3867 3868 3869 3870 3871 3872 3873 3874 3875 3876 3877
270 3878 3879 3880 3881 3882 3883 3884 3885 3886 3887 3888 3889
271 3890 3891 3892 3893 3894 3895 3896 3897 3898 3899 3900 3901
272 3902 3903 3904 3905 3906 3907 3908 3909 3910 3911 3912 3913

273 3914 3915 3916 3917 3918 3919 3920 3921 3922 3923 3924 3925
274 3926 3927 3928 3929 3930 3931 3932 3933 3934 3935 3936 3937
275 3938 3939 3940 3941 3942 3943 3944 3945 3946 3947 3948 3949
276 3950 3951 3952 3953 3954 3955 3956 3957 3958 3959 3960 3961
277 3962 3963 3964 3965 3966 3967 3968 3969 3970 3971 3972 3973
278 3974 3975 3976 3977 3978 3979 3980 3981 3982 3983 3984 3985
279 3986 3987 3988 3989 3990 3991 3992 3993 3994 3995 3996 3997
280 3998 3999 4000 4001 4002 4003 4004 4005 4006 4007 4008 4009
281 4010 4011 4012 4013 4014 4015 4016 4017 4018 4019 4020 4021
282 4022 4023 4024 4025 4026 4027 4028 4029 4030 4031 4032 4033
283 4034 4035 4036 4037 4038 4039 4040 4041 4042 4043 4044 4045
284 4046 4047 4048 4049 4050 4051 4052 4053 4054 4055 4056 4057
285 4058 4059 4060 4061 4062 4063 4064 4065 4066 4067 4068 4069
286 4070 4071 4072 4073 4074 4075 4076 4077 4078 4079 4080 4081
287 4082 4083 4084 4085 4086 4087 4088 4089 4090 4091 4092 4093
288 4094 4095 4096 4097 4098 4099 4100 4101 4102 4103 4104 4105
289 4106 4107 4108 4109 4110 4111 4112 4113 4114 4115 4116 4117
290 4118 4119 4120 4121 4122 4123 4124 4125 4126 4127 4128 4129
291 4130 4131 4132 4133 4134 4135 4136 4137 4138 4139 4140 4141
292 4142 4143 4144 4145 4146 4147 4148 4149 4150 4151 4152 4153
293 4154 4155 4156 4157 4158 4159 4160 4161 4162 4163 4164 4165
294 4166 4167 4168 4169 4170 4171 4172 4173 4174 4175 4176 4177
295 4178 4179 4180 4181 4182 4183 4184 4185 4186 4187 4188 4189
296 4190 4191 4192 4193 4194 4195 4196 4197 4198 4199 4200 4201
297 4202 4203 4204 4205 4206 4207 4208 4209 4210 4211 4212 4213
298 4214 4215 4216 4217 4218 4219 4220 4221 4222 4223 4224 4225
299 4226 4227 4228 4229 4230 4231 4232 4233 4234 4235 4236 4237
300 4238 4239 4240 4241 4242 4243 4244 4245 4246 4247 4248 4249
301 4250 4251 4252 4253 4254 4255 4256 4257 4258 4259 4260 4261
302 4262 4263 4264 4265 4266 4267 4268 4269 4270 4271 4272 4273
303 4274 4275 4276 4277 4278 4279 4280 4281 4282 4283 4284 4285
304 4286 4287 4288 4289 4290 4291 4292 4293 4294 4295 4296 4297
305 4298 4299 4300 4301 4302 4303 4304 4305 4306 4307 4308 4309
306 4310 4311 4312 4313 4314 4315 4316 4317 4318 4319 4320 4321
307 4322 4323 4324 4325 4326 4327 4328 4329 4330 4331 4332 4333
308 4334 4335 4336 4337 4338 4339 4340 4341 4342 4343 4344 4345
309 4346 4347 4348 4349 4350 4351 4352 4353 4354 4355 4356 4357
310 4358 4359 4360 4361 4362 4363 4364 4365 4366 4367 4368 4369
311 4370 4371 4372 4373 4374 4375 4376 4377 4378 4379 4380 4381
312 4382 4383 4384 4385 4386 4387 4388 4389 4390 4391 4392 4393
313 4394 4395 4396 4397 4398 4399 4400 4401 4402 4403 4404 4405
314 4406 4407 4408 4409 4410 4411 4412 4413 4414 4415 4416 4417
315 4418 4419 4420 4421 4422 4423 4424 4425 4426 4427 4428 4429
316 4430 4431 4432 4433 4434 4435 4436 4437 4438 4439 4440 4441
317 4442 4443 4444 4445 4446 4447 4448 4449 4450 4451 4452 4453
318 4454 4455 4456 4457 4458 4459 4460 4461 4462 4463 4464 4465

319 4466 4467 4468 4469 4470 4471 4472 4473 4474 4475 4476 4477
320 4478 4479 4480 4481 4482 4483 4484 4485 4486 4487 4488 4489
321 4490 4491 4492 4493 4494 4495 4496 4497 4498 4499 4500 4501
322 4502 4503 4504 4505 4506 4507 4508 4509 4510 4511 4512 4513
323 4514 4515 4516 4517 4518 4519 4520 4521 4522 4523 4524 4525
324 4526 4527 4528 4529 4530 4531 4532 4533 4534 4535 4536 4537
325 4538 4539 4540 4541 4542 4543 4544 4545 4546 4547 4548 4549
326 4550 4551 4552 4553 4554 4555 4556 4557 4558 4559 4560 4561
327 4562 4563 4564 4565 4566 4567 4568 4569 4570 4571 4572 4573
328 4574 4575 4576 4577 4578 4579 4580 4581 4582 4583 4584 4585
329 4586 4587 4588 4589 4590 4591 4592 4593 4594 4595 4596 4597
330 4598 4599 4600 4601 4602 4603 4604 4605 4606 4607 4608 4609
331 4610 4611 4612 4613 4614 4615 4616 4617 4618 4619 4620 4621
332 4622 4623 4624 4625 4626 4627 4628 4629 4630 4631 4632 4633
333 4634 4635 4636 4637 4638 4639 4640 4641 4642 4643 4644 4645
334 4646 4647 4648 4649 4650 4651 4652 4653 4654 4655 4656 4657
335 4658 4659 4660 4661 4662 4663 4664 4665 4666 4667 4668 4669
336 4670 4671 4672 4673 4674 4675 4676 4677 4678 4679 4680 4681
337 4682 4683 4684 4685 4686 4687 4688 4689 4690 4691 4692 4693
338 4694 4695 4696 4697 4698 4699 4700 4701 4702 4703 4704 4705
339 4706 4707 4708 4709 4710 4711 4712 4713 4714 4715 4716 4717
340 4718 4719 4720 4721 4722 4723 4724 4725 4726 4727 4728 4729
341 4730 4731 4732 4733 4734 4735 4736 4737 4738 4739 4740 4741
342 4742 4743 4744 4745 4746 4747 4748 4749 4750 4751 4752 4753
343 4754 4755 4756 4757 4758 4759 4760 4761 4762 4763 4764 4765
344 4766 4767 4768 4769 4770 4771 4772 4773 4774 4775 4776 4777
345 4778 4779 4780 4781 4782 4783 4784 4785 4786 4787 4788 4789
346 4790 4791 4792 4793 4794 4795 4796 4797 4798 4799 4800 4801
347 4802 4803 4804 4805 4806 4807 4808 4809 4810 4811 4812 4813
348 4814 4815 4816 4817 4818 4819 4820 4821 4822 4823 4824 4825
349 4826 4827 4828 4829 4830 4831 4832 4833 4834 4835 4836 4837
350 4838 4839 4840 4841 4842 4843 4844 4845 4846 4847 4848 4849
351 4850 4851 4852 4853 4854 4855 4856 4857 4858 4859 4860 4861
352 4862 4863 4864 4865 4866 4867 4868 4869 4870 4871 4872 4873
353 4874 4875 4876 4877 4878 4879 4880 4881 4882 4883 4884 4885
354 4886 4887 4888 4889 4890 4891 4892 4893 4894 4895 4896 4897
355 4898 4899 4900 4901 4902 4903 4904 4905 4906 4907 4908 4909
356 4910 4911 4912 4913 4914 4915 4916 4917 4918 4919 4920 4921
357 4922 4923 4924 4925 4926 4927 4928 4929 4930 4931 4932 4933
358 4934 4935 4936 4937 4938 4939 4940 4941 4942 4943 4944 4945
359 4946 4947 4948 4949 4950 4951 4952 4953 4954 4955 4956 4957
360 4958 4959 4960 4961 4962 4963 4964 4965 4966 4967 4968 4969
361 4970 4971 4972 4973 4974 4975 4976 4977 4978 4979 4980 4981
362 4982 4983 4984 4985 4986 4987 4988 4989 4990 4991 4992 4993
363 4994 4995 4996 4997 4998 4999 5000 5001 5002 5003 5004 5005
364 5006 5007 5008 5009 5010 5011 5012 5013 5014 5015 5016 5017

365 5018 5019 5020 5021 5022 5023 5024 5025 5026 5027 5028 5029
366 5030 5031 5032 5033 5034 5035 5036 5037 5038 5039 5040 5041
367 5042 5043 5044 5045 5046 5047 5048 5049 5050 5051 5052 5053
368 5054 5055 5056 5057 5058 5059 5060 5061 5062 5063 5064 5065
369 5066 5067 5068 5069 5070 5071 5072 5073 5074 5075 5076 5077
370 5078 5079 5080 5081 5082 5083 5084 5085 5086 5087 5088 5089
371 5090 5091 5092 5093 5094 5095 5096 5097 5098 5099 5100 5101
372 5102 5103 5104 5105 5106 5107 5108 5109 5110 5111 5112 5113
373 5114 5115 5116 5117 5118 5119 5120 5121 5122 5123 5124 5125
374 5126 5127 5128 5129 5130 5131 5132 5133 5134 5135 5136 5137
375 5138 5139 5140 5141 5142 5143 5144 5145 5146 5147 5148 5149
376 5150 5151 5152 5153 5154 5155 5156 5157 5158 5159 5160 5161
377 5162 5163 5164 5165 5166 5167 5168 5169 5170 5171 5172 5173
378 5174 5175 5176 5177 5178 5179 5180 5181 5182 5183 5184 5185
379 5186 5187 5188 5189 5190 5191 5192 5193 5194 5195 5196 5197
380 5198 5199 5200 5201 5202 5203 5204 5205 5206 5207 5208 5209
381 5210 5211 5212 5213 5214 5215 5216 5217 5218 5219 5220 5221
382 5222 5223 5224 5225 5226 5227 5228 5229 5230 5231 5232 5233
383 5234 5235 5236 5237 5238 5239 5240 5241 5242 5243 5244 5245
384 5246 5247 5248 5249 5250 5251 5252 5253 5254 5255 5256 5257
385 5258 5259 5260 5261 5262 5263 5264 5265 5266 5267 5268 5269
386 5270 5271 5272 5273 5274 5275 5276 5277 5278 5279 5280 5281
387 5282 5283 5284 5285 5286 5287 5288 5289 5290 5291 5292 5293
388 5294 5295 5296 5297 5298 5299 5300 5301 5302 5303 5304 5305
389 5306 5307 5308 5309 5310 5311 5312 5313 5314 5315 5316 5317
390 5318 5319 5320 5321 5322 5323 5324 5325 5326 5327 5328 5329
391 5330 5331 5332 5333 5334 5335 5336 5337 5338 5339 5340 5341
392 5342 5343 5344 5345 5346 5347 5348 5349 5350 5351 5352 5353
393 5354 5355 5356 5357 5358 5359 5360 5361 5362 5363 5364 5365
394 5366 5367 5368 5369 5370 5371 5372 5373 5374 5375 5376 5377
395 5378 5379 5380 5381 5382 5383 5384 5385 5386 5387 5388 5389
396 5390 5391 5392 5393 5394 5395 5396 5397 5398 5399 5400 5401
397 5402 5403 5404 5405 5406 5407 5408 5409 5410 5411 5412 5413
398 5414 5415 5416 5417 5418 5419 5420 5421 5422 5423 5424 5425
399 5426 5427 5428 5429 5430 5431 5432 5433 5434 5435 5436 5437
400 5438 5439 5440 5441 5442 5443 5444 5445 5446 5447 5448 5449

Cir. int. auxiliary Circul

Ste Target position Operation speed Dwell M Sub. Axis Helical Control
point ar int.
p time code setting int. word
1 5450 5451 5452 5453 5454 5455 5456 5457 5458 5459 5460 5461
2 5462 5463 5464 5465 5466 5467 5468 5469 5470 5471 5472 5473
3 5474 5475 5476 5477 5478 5479 5480 5481 5482 5483 5484 5485
4 5486 5487 5488 5489 5490 5491 5492 5493 5494 5495 5496 5497
5 5498 5499 5500 5501 5502 5503 5504 5505 5506 5507 5508 5509
6 5510 5511 5512 5513 5514 5515 5516 5517 5518 5519 5520 5521
7 5522 5523 5524 5525 5526 5527 5528 5529 5530 5531 5532 5533
8 5534 5535 5536 5537 5538 5539 5540 5541 5542 5543 5544 5545
9 5546 5547 5548 5549 5550 5551 5552 5553 5554 5555 5556 5557
10 5558 5559 5560 5561 5562 5563 5564 5565 5566 5567 5568 5569
11 5570 5571 5572 5573 5574 5575 5576 5577 5578 5579 5580 5581
12 5582 5583 5584 5585 5586 5587 5588 5589 5590 5591 5592 5593
13 5594 5595 5596 5597 5598 5599 5600 5601 5602 5603 5604 5605
14 5606 5607 5608 5609 5610 5611 5612 5613 5614 5615 5616 5617
15 5618 5619 5620 5621 5622 5623 5624 5625 5626 5627 5628 5629
16 5630 5631 5632 5633 5634 5635 5636 5637 5638 5639 5640 5641
17 5642 5643 5644 5645 5646 5647 5648 5649 5650 5651 5652 5653
18 5654 5655 5656 5657 5658 5659 5660 5661 5662 5663 5664 5665
19 5666 5667 5668 5669 5670 5671 5672 5673 5674 5675 5676 5677
20 5678 5679 5680 5681 5682 5683 5684 5685 5686 5687 5688 5689
21 5690 5691 5692 5693 5694 5695 5696 5697 5698 5699 5700 5701
22 5702 5703 5704 5705 5706 5707 5708 5709 5710 5711 5712 5713
23 5714 5715 5716 5717 5718 5719 5720 5721 5722 5723 5724 5725
24 5726 5727 5728 5729 5730 5731 5732 5733 5734 5735 5736 5737
25 5738 5739 5740 5741 5742 5743 5744 5745 5746 5747 5748 5749
26 5750 5751 5752 5753 5754 5755 5756 5757 5758 5759 5760 5761
27 5762 5763 5764 5765 5766 5767 5768 5769 5770 5771 5772 5773
28 5774 5775 5776 5777 5778 5779 5780 5781 5782 5783 5784 5785
29 5786 5787 5788 5789 5790 5791 5792 5793 5794 5795 5796 5797
30 5798 5799 5800 5801 5802 5803 5804 5805 5806 5807 5808 5809
31 5810 5811 5812 5813 5814 5815 5816 5817 5818 5819 5820 5821
32 5822 5823 5824 5825 5826 5827 5828 5829 5830 5831 5832 5833
33 5834 5835 5836 5837 5838 5839 5840 5841 5842 5843 5844 5845
34 5846 5847 5848 5849 5850 5851 5852 5853 5854 5855 5856 5857
35 5858 5859 5860 5861 5862 5863 5864 5865 5866 5867 5868 5869
36 5870 5871 5872 5873 5874 5875 5876 5877 5878 5879 5880 5881
37 5882 5883 5884 5885 5886 5887 5888 5889 5890 5891 5892 5893
38 5894 5895 5896 5897 5898 5899 5900 5901 5902 5903 5904 5905
39 5906 5907 5908 5909 5910 5911 5912 5913 5914 5915 5916 5917
40 5918 5919 5920 5921 5922 5923 5924 5925 5926 5927 5928 5929

41 5930 5931 5932 5933 5934 5935 5936 5937 5938 5939 5940 5941
42 5942 5943 5944 5945 5946 5947 5948 5949 5950 5951 5952 5953
43 5954 5955 5956 5957 5958 5959 5960 5961 5962 5963 5964 5965
44 5966 5967 5968 5969 5970 5971 5972 5973 5974 5975 5976 5977
45 5978 5979 5980 5981 5982 5983 5984 5985 5986 5987 5988 5989
46 5990 5991 5992 5993 5994 5995 5996 5997 5998 5999 6000 6001
47 6002 6003 6004 6005 6006 6007 6008 6009 6010 6011 6012 6013
48 6014 6015 6016 6017 6018 6019 6020 6021 6022 6023 6024 6025
49 6026 6027 6028 6029 6030 6031 6032 6033 6034 6035 6036 6037
50 6038 6039 6040 6041 6042 6043 6044 6045 6046 6047 6048 6049
51 6050 6051 6052 6053 6054 6055 6056 6057 6058 6059 6060 6061
52 6062 6063 6064 6065 6066 6067 6068 6069 6070 6071 6072 6073
53 6074 6075 6076 6077 6078 6079 6080 6081 6082 6083 6084 6085
54 6086 6087 6088 6089 6090 6091 6092 6093 6094 6095 6096 6097
55 6098 6099 6100 6101 6102 6103 6104 6105 6106 6107 6108 6109
56 6110 6111 6112 6113 6114 6115 6116 6117 6118 6119 6120 6121
57 6122 6123 6124 6125 6126 6127 6128 6129 6130 6131 6132 6133
58 6134 6135 6136 6137 6138 6139 6140 6141 6142 6143 6144 6145
59 6146 6147 6148 6149 6150 6151 6152 6153 6154 6155 6156 6157
60 6158 6159 6160 6161 6162 6163 6164 6165 6166 6167 6168 6169
61 6170 6171 6172 6173 6174 6175 6176 6177 6178 6179 6180 6181
62 6182 6183 6184 6185 6186 6187 6188 6189 6190 6191 6192 6193
63 6194 6195 6196 6197 6198 6199 6200 6201 6202 6203 6204 6205
64 6206 6207 6208 6209 6210 6211 6212 6213 6214 6215 6216 6217
65 6218 6219 6220 6221 6222 6223 6224 6225 6226 6227 6228 6229
66 6230 6231 6232 6233 6234 6235 6236 6237 6238 6239 6240 6241
67 6242 6243 6244 6245 6246 6247 6248 6249 6250 6251 6252 6253
68 6254 6255 6256 6257 6258 6259 6260 6261 6262 6263 6264 6265
69 6266 6267 6268 6269 6270 6271 6272 6273 6274 6275 6276 6277
70 6278 6279 6280 6281 6282 6283 6284 6285 6286 6287 6288 6289
71 6290 6291 6292 6293 6294 6295 6296 6297 6298 6299 6300 6301
72 6302 6303 6304 6305 6306 6307 6308 6309 6310 6311 6312 6313
73 6314 6315 6316 6317 6318 6319 6320 6321 6322 6323 6324 6325
74 6326 6327 6328 6329 6330 6331 6332 6333 6334 6335 6336 6337
75 6338 6339 6340 6341 6342 6343 6344 6345 6346 6347 6348 6349
76 6350 6351 6352 6353 6354 6355 6356 6357 6358 6359 6360 6361
77 6362 6363 6364 6365 6366 6367 6368 6369 6370 6371 6372 6373
78 6374 6375 6376 6377 6378 6379 6380 6381 6382 6383 6384 6385
79 6386 6387 6388 6389 6390 6391 6392 6393 6394 6395 6396 6397
80 6398 6399 6400 6401 6402 6403 6404 6405 6406 6407 6408 6409
81 6410 6411 6412 6413 6414 6415 6416 6417 6418 6419 6420 6421
82 6422 6423 6424 6425 6426 6427 6428 6429 6430 6431 6432 6433
83 6434 6435 6436 6437 6438 6439 6440 6441 6442 6443 6444 6445
84 6446 6447 6448 6449 6450 6451 6452 6453 6454 6455 6456 6457
85 6458 6459 6460 6461 6462 6463 6464 6465 6466 6467 6468 6469
86 6470 6471 6472 6473 6474 6475 6476 6477 6478 6479 6480 6481

87 6482 6483 6484 6485 6486 6487 6488 6489 6490 6491 6492 6493
88 6494 6495 6496 6497 6498 6499 6500 6501 6502 6503 6504 6505
89 6506 6507 6508 6509 6510 6511 6512 6513 6514 6515 6516 6517
90 6518 6519 6520 6521 6522 6523 6524 6525 6526 6527 6528 6529
91 6530 6531 6532 6533 6534 6535 6536 6537 6538 6539 6540 6541
92 6542 6543 6544 6545 6546 6547 6548 6549 6550 6551 6552 6553
93 6554 6555 6556 6557 6558 6559 6560 6561 6562 6563 6564 6565
94 6566 6567 6568 6569 6570 6571 6572 6573 6574 6575 6576 6577
95 6578 6579 6580 6581 6582 6583 6584 6585 6586 6587 6588 6589
96 6590 6591 6592 6593 6594 6595 6596 6597 6598 6599 6600 6601
97 6602 6603 6604 6605 6606 6607 6608 6609 6610 6611 6612 6613
98 6614 6615 6616 6617 6618 6619 6620 6621 6622 6623 6624 6625
99 6626 6627 6628 6629 6630 6631 6632 6633 6634 6635 6636 6637
100 6638 6639 6640 6641 6642 6643 6644 6645 6646 6647 6648 6649
101 6650 6651 6652 6653 6654 6655 6656 6657 6658 6659 6660 6661
102 6662 6663 6664 6665 6666 6667 6668 6669 6670 6671 6672 6673
103 6674 6675 6676 6677 6678 6679 6680 6681 6682 6683 6684 6685
104 6686 6687 6688 6689 6690 6691 6692 6693 6694 6695 6696 6697
105 6698 6699 6700 6701 6702 6703 6704 6705 6706 6707 6708 6709
106 6710 6711 6712 6713 6714 6715 6716 6717 6718 6719 6720 6721
107 6722 6723 6724 6725 6726 6727 6728 6729 6730 6731 6732 6733
108 6734 6735 6736 6737 6738 6739 6740 6741 6742 6743 6744 6745
109 6746 6747 6748 6749 6750 6751 6752 6753 6754 6755 6756 6757
110 6758 6759 6760 6761 6762 6763 6764 6765 6766 6767 6768 6769
111 6770 6771 6772 6773 6774 6775 6776 6777 6778 6779 6780 6781
112 6782 6783 6784 6785 6786 6787 6788 6789 6790 6791 6792 6793
113 6794 6795 6796 6797 6798 6799 6800 6801 6802 6803 6804 6805
114 6806 6807 6808 6809 6810 6811 6812 6813 6814 6815 6816 6817
115 6818 6819 6820 6821 6822 6823 6824 6825 6826 6827 6828 6829
116 6830 6831 6832 6833 6834 6835 6836 6837 6838 6839 6840 6841
117 6842 6843 6844 6845 6846 6847 6848 6849 6850 6851 6852 6853
118 6854 6855 6856 6857 6858 6859 6860 6861 6862 6863 6864 6865
119 6866 6867 6868 6869 6870 6871 6872 6873 6874 6875 6876 6877
120 6878 6879 6880 6881 6882 6883 6884 6885 6886 6887 6888 6889
121 6890 6891 6892 6893 6894 6895 6896 6897 6898 6899 6900 6901
122 6902 6903 6904 6905 6906 6907 6908 6909 6910 6911 6912 6913
123 6914 6915 6916 6917 6918 6919 6920 6921 6922 6923 6924 6925
124 6926 6927 6928 6929 6930 6931 6932 6933 6934 6935 6936 6937
125 6938 6939 6940 6941 6942 6943 6944 6945 6946 6947 6948 6949
126 6950 6951 6952 6953 6954 6955 6956 6957 6958 6959 6960 6961
127 6962 6963 6964 6965 6966 6967 6968 6969 6970 6971 6972 6973
128 6974 6975 6976 6977 6978 6979 6980 6981 6982 6983 6984 6985
129 6986 6987 6988 6989 6990 6991 6992 6993 6994 6995 6996 6997
130 6998 6999 7000 7001 7002 7003 7004 7005 7006 7007 7008 7009
131 7010 7011 7012 7013 7014 7015 7016 7017 7018 7019 7020 7021
132 7022 7023 7024 7025 7026 7027 7028 7029 7030 7031 7032 7033

133 7034 7035 7036 7037 7038 7039 7040 7041 7042 7043 7044 7045
134 7046 7047 7048 7049 7050 7051 7052 7053 7054 7055 7056 7057
135 7058 7059 7060 7061 7062 7063 7064 7065 7066 7067 7068 7069
136 7070 7071 7072 7073 7074 7075 7076 7077 7078 7079 7080 7081
137 7082 7083 7084 7085 7086 7087 7088 7089 7090 7091 7092 7093
138 7094 7095 7096 7097 7098 7099 7100 7101 7102 7103 7104 7105
139 7106 7107 7108 7109 7110 7111 7112 7113 7114 7115 7116 7117
140 7118 7119 7120 7121 7122 7123 7124 7125 7126 7127 7128 7129
141 7130 7131 7132 7133 7134 7135 7136 7137 7138 7139 7140 7141
142 7142 7143 7144 7145 7146 7147 7148 7149 7150 7151 7152 7153
143 7154 7155 7156 7157 7158 7159 7160 7161 7162 7163 7164 7165
144 7166 7167 7168 7169 7170 7171 7172 7173 7174 7175 7176 7177
145 7178 7179 7180 7181 7182 7183 7184 7185 7186 7187 7188 7189
146 7190 7191 7192 7193 7194 7195 7196 7197 7198 7199 7200 7201
147 7202 7203 7204 7205 7206 7207 7208 7209 7210 7211 7212 7213
148 7214 7215 7216 7217 7218 7219 7220 7221 7222 7223 7224 7225
149 7226 7227 7228 7229 7230 7231 7232 7233 7234 7235 7236 7237
150 7238 7239 7240 7241 7242 7243 7244 7245 7246 7247 7248 7249
151 7250 7251 7252 7253 7254 7255 7256 7257 7258 7259 7260 7261
152 7262 7263 7264 7265 7266 7267 7268 7269 7270 7271 7272 7273
153 7274 7275 7276 7277 7278 7279 7280 7281 7282 7283 7284 7285
154 7286 7287 7288 7289 7290 7291 7292 7293 7294 7295 7296 7297
155 7298 7299 7300 7301 7302 7303 7304 7305 7306 7307 7308 7309
156 7310 7311 7312 7313 7314 7315 7316 7317 7318 7319 7320 7321
157 7322 7323 7324 7325 7326 7327 7328 7329 7330 7331 7332 7333
158 7334 7335 7336 7337 7338 7339 7340 7341 7342 7343 7344 7345
159 7346 7347 7348 7349 7350 7351 7352 7353 7354 7355 7356 7357
160 7358 7359 7360 7361 7362 7363 7364 7365 7366 7367 7368 7369
161 7370 7371 7372 7373 7374 7375 7376 7377 7378 7379 7380 7381
162 7382 7383 7384 7385 7386 7387 7388 7389 7390 7391 7392 7393
163 7394 7395 7396 7397 7398 7399 7400 7401 7402 7403 7404 7405
164 7406 7407 7408 7409 7410 7411 7412 7413 7414 7415 7416 7417
165 7418 7419 7420 7421 7422 7423 7424 7425 7426 7427 7428 7429
166 7430 7431 7432 7433 7434 7435 7436 7437 7438 7439 7440 7441
167 7442 7443 7444 7445 7446 7447 7448 7449 7450 7451 7452 7453
168 7454 7455 7456 7457 7458 7459 7460 7461 7462 7463 7464 7465
169 7466 7467 7468 7469 7470 7471 7472 7473 7474 7475 7476 7477
170 7478 7479 7480 7481 7482 7483 7484 7485 7486 7487 7488 7489
171 7490 7491 7492 7493 7494 7495 7496 7497 7498 7499 7500 7501
172 7502 7503 7504 7505 7506 7507 7508 7509 7510 7511 7512 7513
173 7514 7515 7516 7517 7518 7519 7520 7521 7522 7523 7524 7525
174 7526 7527 7528 7529 7530 7531 7532 7533 7534 7535 7536 7537
175 7538 7539 7540 7541 7542 7543 7544 7545 7546 7547 7548 7549
176 7550 7551 7552 7553 7554 7555 7556 7557 7558 7559 7560 7561
177 7562 7563 7564 7565 7566 7567 7568 7569 7570 7571 7572 7573
178 7574 7575 7576 7577 7578 7579 7580 7581 7582 7583 7584 7585

179 7586 7587 7588 7589 7590 7591 7592 7593 7594 7595 7596 7597
180 7598 7599 7600 7601 7602 7603 7604 7605 7606 7607 7608 7609
181 7610 7611 7612 7613 7614 7615 7616 7617 7618 7619 7620 7621
182 7622 7623 7624 7625 7626 7627 7628 7629 7630 7631 7632 7633
183 7634 7635 7636 7637 7638 7639 7640 7641 7642 7643 7644 7645
184 7646 7647 7648 7649 7650 7651 7652 7653 7654 7655 7656 7657
185 7658 7659 7660 7661 7662 7663 7664 7665 7666 7667 7668 7669
186 7670 7671 7672 7673 7674 7675 7676 7677 7678 7679 7680 7681
187 7682 7683 7684 7685 7686 7687 7688 7689 7690 7691 7692 7693
188 7694 7695 7696 7697 7698 7699 7700 7701 7702 7703 7704 7705
189 7706 7707 7708 7709 7710 7711 7712 7713 7714 7715 7716 7717
190 7718 7719 7720 7721 7722 7723 7724 7725 7726 7727 7728 7729
191 7730 7731 7732 7733 7734 7735 7736 7737 7738 7739 7740 7741
192 7742 7743 7744 7745 7746 7747 7748 7749 7750 7751 7752 7753
193 7754 7755 7756 7757 7758 7759 7760 7761 7762 7763 7764 7765
194 7766 7767 7768 7769 7770 7771 7772 7773 7774 7775 7776 7777
195 7778 7779 7780 7781 7782 7783 7784 7785 7786 7787 7788 7789
196 7790 7791 7792 7793 7794 7795 7796 7797 7798 7799 7800 7801
197 7802 7803 7804 7805 7806 7807 7808 7809 7810 7811 7812 7813
198 7814 7815 7816 7817 7818 7819 7820 7821 7822 7823 7824 7825
199 7826 7827 7828 7829 7830 7831 7832 7833 7834 7835 7836 7837
200 7838 7839 7840 7841 7842 7843 7844 7845 7846 7847 7848 7849
201 7850 7851 7852 7853 7854 7855 7856 7857 7858 7859 7860 7861
202 7862 7863 7864 7865 7866 7867 7868 7869 7870 7871 7872 7873
203 7874 7875 7876 7877 7878 7879 7880 7881 7882 7883 7884 7885
204 7886 7887 7888 7889 7890 7891 7892 7893 7894 7895 7896 7897
205 7898 7899 7900 7901 7902 7903 7904 7905 7906 7907 7908 7909
206 7910 7911 7912 7913 7914 7915 7916 7917 7918 7919 7920 7921
207 7922 7923 7924 7925 7926 7927 7928 7929 7930 7931 7932 7933
208 7934 7935 7936 7937 7938 7939 7940 7941 7942 7943 7944 7945
209 7946 7947 7948 7949 7950 7951 7952 7953 7954 7955 7956 7957
210 7958 7959 7960 7961 7962 7963 7964 7965 7966 7967 7968 7969
211 7970 7971 7972 7973 7974 7975 7976 7977 7978 7979 7980 7981
212 7982 7983 7984 7985 7986 7987 7988 7989 7990 7991 7992 7993
213 7994 7995 7996 7997 7998 7999 8000 8001 8002 8003 8004 8005
214 8006 8007 8008 8009 8010 8011 8012 8013 8014 8015 8016 8017
215 8018 8019 8020 8021 8022 8023 8024 8025 8026 8027 8028 8029
216 8030 8031 8032 8033 8034 8035 8036 8037 8038 8039 8040 8041
217 8042 8043 8044 8045 8046 8047 8048 8049 8050 8051 8052 8053
218 8054 8055 8056 8057 8058 8059 8060 8061 8062 8063 8064 8065
219 8066 8067 8068 8069 8070 8071 8072 8073 8074 8075 8076 8077
220 8078 8079 8080 8081 8082 8083 8084 8085 8086 8087 8088 8089
221 8090 8091 8092 8093 8094 8095 8096 8097 8098 8099 8100 8101
222 8102 8103 8104 8105 8106 8107 8108 8109 8110 8111 8112 8113
223 8114 8115 8116 8117 8118 8119 8120 8121 8122 8123 8124 8125
224 8126 8127 8128 8129 8130 8131 8132 8133 8134 8135 8136 8137

225 8138 8139 8140 8141 8142 8143 8144 8145 8146 8147 8148 8149
226 8150 8151 8152 8153 8154 8155 8156 8157 8158 8159 8160 8161
227 8162 8163 8164 8165 8166 8167 8168 8169 8170 8171 8172 8173
228 8174 8175 8176 8177 8178 8179 8180 8181 8182 8183 8184 8185
229 8186 8187 8188 8189 8190 8191 8192 8193 8194 8195 8196 8197
230 8198 8199 8200 8201 8202 8203 8204 8205 8206 8207 8208 8209
231 8210 8211 8212 8213 8214 8215 8216 8217 8218 8219 8220 8221
232 8222 8223 8224 8225 8226 8227 8228 8229 8230 8231 8232 8233
233 8234 8235 8236 8237 8238 8239 8240 8241 8242 8243 8244 8245
234 8246 8247 8248 8249 8250 8251 8252 8253 8254 8255 8256 8257
235 8258 8259 8260 8261 8262 8263 8264 8265 8266 8267 8268 8269
236 8270 8271 8272 8273 8274 8275 8276 8277 8278 8279 8280 8281
237 8282 8283 8284 8285 8286 8287 8288 8289 8290 8291 8292 8293
238 8294 8295 8296 8297 8298 8299 8300 8301 8302 8303 8304 8305
239 8306 8307 8308 8309 8310 8311 8312 8313 8314 8315 8316 8317
240 8318 8319 8320 8321 8322 8323 8324 8325 8326 8327 8328 8329
241 8330 8331 8332 8333 8334 8335 8336 8337 8338 8339 8340 8341
242 8342 8343 8344 8345 8346 8347 8348 8349 8350 8351 8352 8353
243 8354 8355 8356 8357 8358 8359 8360 8361 8362 8363 8364 8365
244 8366 8367 8368 8369 8370 8371 8372 8373 8374 8375 8376 8377
245 8378 8379 8380 8381 8382 8383 8384 8385 8386 8387 8388 8389
246 8390 8391 8392 8393 8394 8395 8396 8397 8398 8399 8400 8401
247 8402 8403 8404 8405 8406 8407 8408 8409 8410 8411 8412 8413
248 8414 8415 8416 8417 8418 8419 8420 8421 8422 8423 8424 8425
249 8426 8427 8428 8429 8430 8431 8432 8433 8434 8435 8436 8437
250 8438 8439 8440 8441 8442 8443 8444 8445 8446 8447 8448 8449
251 8450 8451 8452 8453 8454 8455 8456 8457 8458 8459 8460 8461
252 8462 8463 8464 8465 8466 8467 8468 8469 8470 8471 8472 8473
253 8474 8475 8476 8477 8478 8479 8480 8481 8482 8483 8484 8485
254 8486 8487 8488 8489 8490 8491 8492 8493 8494 8495 8496 8497
255 8498 8499 8500 8501 8502 8503 8504 8505 8506 8507 8508 8509
256 8510 8511 8512 8513 8514 8515 8516 8517 8518 8519 8520 8521
257 8522 8523 8524 8525 8526 8527 8528 8529 8530 8531 8532 8533
258 8534 8535 8536 8537 8538 8539 8540 8541 8542 8543 8544 8545
259 8546 8547 8548 8549 8550 8551 8552 8553 8554 8555 8556 8557
260 8558 8559 8560 8561 8562 8563 8564 8565 8566 8567 8568 8569
261 8570 8571 8572 8573 8574 8575 8576 8577 8578 8579 8580 8581
262 8582 8583 8584 8585 8586 8587 8588 8589 8590 8591 8592 8593
263 8594 8595 8596 8597 8598 8599 8600 8601 8602 8603 8604 8605
264 8606 8607 8608 8609 8610 8611 8612 8613 8614 8615 8616 8617
265 8618 8619 8620 8621 8622 8623 8624 8625 8626 8627 8628 8629
266 8630 8631 8632 8633 8634 8635 8636 8637 8638 8639 8640 8641
267 8642 8643 8644 8645 8646 8647 8648 8649 8650 8651 8652 8653
268 8654 8655 8656 8657 8658 8659 8660 8661 8662 8663 8664 8665
269 8666 8667 8668 8669 8670 8671 8672 8673 8674 8675 8676 8677
270 8678 8679 8680 8681 8682 8683 8684 8685 8686 8687 8688 8689

271 8690 8691 8692 8693 8694 8695 8696 8697 8698 8699 8700 8701
272 8702 8703 8704 8705 8706 8707 8708 8709 8710 8711 8712 8713
273 8714 8715 8716 8717 8718 8719 8720 8721 8722 8723 8724 8725
274 8726 8727 8728 8729 8730 8731 8732 8733 8734 8735 8736 8737
275 8738 8739 8740 8741 8742 8743 8744 8745 8746 8747 8748 8749
276 8750 8751 8752 8753 8754 8755 8756 8757 8758 8759 8760 8761
277 8762 8763 8764 8765 8766 8767 8768 8769 8770 8771 8772 8773
278 8774 8775 8776 8777 8778 8779 8780 8781 8782 8783 8784 8785
279 8786 8787 8788 8789 8790 8791 8792 8793 8794 8795 8796 8797
280 8798 8799 8800 8801 8802 8803 8804 8805 8806 8807 8808 8809
281 8810 8811 8812 8813 8814 8815 8816 8817 8818 8819 8820 8821
282 8822 8823 8824 8825 8826 8827 8828 8829 8830 8831 8832 8833
283 8834 8835 8836 8837 8838 8839 8840 8841 8842 8843 8844 8845
284 8846 8847 8848 8849 8850 8851 8852 8853 8854 8855 8856 8857
285 8858 8859 8860 8861 8862 8863 8864 8865 8866 8867 8868 8869
286 8870 8871 8872 8873 8874 8875 8876 8877 8878 8879 8880 8881
287 8882 8883 8884 8885 8886 8887 8888 8889 8890 8891 8892 8893
288 8894 8895 8896 8897 8898 8899 8900 8901 8902 8903 8904 8905
289 8906 8907 8908 8909 8910 8911 8912 8913 8914 8915 8916 8917
290 8918 8919 8920 8921 8922 8923 8924 8925 8926 8927 8928 8929
291 8930 8931 8932 8933 8934 8935 8936 8937 8938 8939 8940 8941
292 8942 8943 8944 8945 8946 8947 8948 8949 8950 8951 8952 8953
293 8954 8955 8956 8957 8958 8959 8960 8961 8962 8963 8964 8965
294 8966 8967 8968 8969 8970 8971 8972 8973 8974 8975 8976 8977
295 8978 8979 8980 8981 8982 8983 8984 8985 8986 8987 8988 8989
296 8990 8991 8992 8993 8994 8995 8996 8997 8998 8999 9000 9001
297 9002 9003 9004 9005 9006 9007 9008 9009 9010 9011 9012 9013
298 9014 9015 9016 9017 9018 9019 9020 9021 9022 9023 9024 9025
299 9026 9027 9028 9029 9030 9031 9032 9033 9034 9035 9036 9037
300 9038 9039 9040 9041 9042 9043 9044 9045 9046 9047 9048 9049
301 9050 9051 9052 9053 9054 9055 9056 9057 9058 9059 9060 9061
302 9062 9063 9064 9065 9066 9067 9068 9069 9070 9071 9072 9073
303 9074 9075 9076 9077 9078 9079 9080 9081 9082 9083 9084 9085
304 9086 9087 9088 9089 9090 9091 9092 9093 9094 9095 9096 9097
305 9098 9099 9100 9101 9102 9103 9104 9105 9106 9107 9108 9109
306 9110 9111 9112 9113 9114 9115 9116 9117 9118 9119 9120 9121
307 9122 9123 9124 9125 9126 9127 9128 9129 9130 9131 9132 9133
308 9134 9135 9136 9137 9138 9139 9140 9141 9142 9143 9144 9145
309 9146 9147 9148 9149 9150 9151 9152 9153 9154 9155 9156 9157
310 9158 9159 9160 9161 9162 9163 9164 9165 9166 9167 9168 9169
311 9170 9171 9172 9173 9174 9175 9176 9177 9178 9179 9180 9181
312 9182 9183 9184 9185 9186 9187 9188 9189 9190 9191 9192 9193
313 9194 9195 9196 9197 9198 9199 9200 9201 9202 9203 9204 9205
314 9206 9207 9208 9209 9210 9211 9212 9213 9214 9215 9216 9217
315 9218 9219 9220 9221 9222 9223 9224 9225 9226 9227 9228 9229
316 9230 9231 9232 9233 9234 9235 9236 9237 9238 9239 9240 9241

317 9242 9243 9244 9245 9246 9247 9248 9249 9250 9251 9252 9253
318 9254 9255 9256 9257 9258 9259 9260 9261 9262 9263 9264 9265
319 9266 9267 9268 9269 9270 9271 9272 9273 9274 9275 9276 9277
320 9278 9279 9280 9281 9282 9283 9284 9285 9286 9287 9288 9289
321 9290 9291 9292 9293 9294 9295 9296 9297 9298 9299 9300 9301
322 9302 9303 9304 9305 9306 9307 9308 9309 9310 9311 9312 9313
323 9314 9315 9316 9317 9318 9319 9320 9321 9322 9323 9324 9325
324 9326 9327 9328 9329 9330 9331 9332 9333 9334 9335 9336 9337
325 9338 9339 9340 9341 9342 9343 9344 9345 9346 9347 9348 9349
326 9350 9351 9352 9353 9354 9355 9356 9357 9358 9359 9360 9361
327 9362 9363 9364 9365 9366 9367 9368 9369 9370 9371 9372 9373
328 9374 9375 9376 9377 9378 9379 9380 9381 9382 9383 9384 9385
329 9386 9387 9388 9389 9390 9391 9392 9393 9394 9395 9396 9397
330 9398 9399 9400 9401 9402 9403 9404 9405 9406 9407 9408 9409
331 9410 9411 9412 9413 9414 9415 9416 9417 9418 9419 9420 9421
332 9422 9423 9424 9425 9426 9427 9428 9429 9430 9431 9432 9433
333 9434 9435 9436 9437 9438 9439 9440 9441 9442 9443 9444 9445
334 9446 9447 9448 9449 9450 9451 9452 9453 9454 9455 9456 9457
335 9458 9459 9460 9461 9462 9463 9464 9465 9466 9467 9468 9469
336 9470 9471 9472 9473 9474 9475 9476 9477 9478 9479 9480 9481
337 9482 9483 9484 9485 9486 9487 9488 9489 9490 9491 9492 9493
338 9494 9495 9496 9497 9498 9499 9500 9501 9502 9503 9504 9505
339 9506 9507 9508 9509 9510 9511 9512 9513 9514 9515 9516 9517
340 9518 9519 9520 9521 9522 9523 9524 9525 9526 9527 9528 9529
341 9530 9531 9532 9533 9534 9535 9536 9537 9538 9539 9540 9541
342 9542 9543 9544 9545 9546 9547 9548 9549 9550 9551 9552 9553
343 9554 9555 9556 9557 9558 9559 9560 9561 9562 9563 9564 9565
344 9566 9567 9568 9569 9570 9571 9572 9573 9574 9575 9576 9577
345 9578 9579 9580 9581 9582 9583 9584 9585 9586 9587 9588 9589
346 9590 9591 9592 9593 9594 9595 9596 9597 9598 9599 9600 9601
347 9602 9603 9604 9605 9606 9607 9608 9609 9610 9611 9612 9613
348 9614 9615 9616 9617 9618 9619 9620 9621 9622 9623 9624 9625
349 9626 9627 9628 9629 9630 9631 9632 9633 9634 9635 9636 9637
350 9638 9639 9640 9641 9642 9643 9644 9645 9646 9647 9648 9649
351 9650 9651 9652 9653 9654 9655 9656 9657 9658 9659 9660 9661
352 9662 9663 9664 9665 9666 9667 9668 9669 9670 9671 9672 9673
353 9674 9675 9676 9677 9678 9679 9680 9681 9682 9683 9684 9685
354 9686 9687 9688 9689 9690 9691 9692 9693 9694 9695 9696 9697
355 9698 9699 9700 9701 9702 9703 9704 9705 9706 9707 9708 9709
356 9710 9711 9712 9713 9714 9715 9716 9717 9718 9719 9720 9721
357 9722 9723 9724 9725 9726 9727 9728 9729 9730 9731 9732 9733
358 9734 9735 9736 9737 9738 9739 9740 9741 9742 9743 9744 9745
359 9746 9747 9748 9749 9750 9751 9752 9753 9754 9755 9756 9757
360 9758 9759 9760 9761 9762 9763 9764 9765 9766 9767 9768 9769
361 9770 9771 9772 9773 9774 9775 9776 9777 9778 9779 9780 9781
362 9782 9783 9784 9785 9786 9787 9788 9789 9790 9791 9792 9793

363 9794 9795 9796 9797 9798 9799 9800 9801 9802 9803 9804 9805
364 9806 9807 9808 9809 9810 9811 9812 9813 9814 9815 9816 9817
365 9818 9819 9820 9821 9822 9823 9824 9825 9826 9827 9828 9829
366 9830 9831 9832 9833 9834 9835 9836 9837 9838 9839 9840 9841
367 9842 9843 9844 9845 9846 9847 9848 9849 9850 9851 9852 9853
368 9854 9855 9856 9857 9858 9859 9860 9861 9862 9863 9864 9865
369 9866 9867 9868 9869 9870 9871 9872 9873 9874 9875 9876 9877
370 9878 9879 9880 9881 9882 9883 9884 9885 9886 9887 9888 9889
371 9890 9891 9892 9893 9894 9895 9896 9897 9898 9899 9900 9901
372 9902 9903 9904 9905 9906 9907 9908 9909 9910 9911 9912 9913
373 9914 9915 9916 9917 9918 9919 9920 9921 9922 9923 9924 9925
374 9926 9927 9928 9929 9930 9931 9932 9933 9934 9935 9936 9937
375 9938 9939 9940 9941 9942 9943 9944 9945 9946 9947 9948 9949
376 9950 9951 9952 9953 9954 9955 9956 9957 9958 9959 9960 9961
377 9962 9963 9964 9965 9966 9967 9968 9969 9970 9971 9972 9973
378 9974 9975 9976 9977 9978 9979 9980 9981 9982 9983 9984 9985
379 9986 9987 9988 9989 9990 9991 9992 9993 9994 9995 9996 9997
380 9998 9999 10000 10001 10002 10003 10004 10005 10006 10007 10008 10009
381 10010 10011 10012 10013 10014 10015 10016 10017 10018 10019 10020 10021
382 10022 10023 10024 10025 10026 10027 10028 10029 10030 10031 10032 10033
383 10034 10035 10036 10037 10038 10039 10040 10041 10042 10043 10044 10045
384 10046 10047 10048 10049 10050 10051 10052 10053 10054 10055 10056 10057
385 10058 10059 10060 10061 10062 10063 10064 10065 10066 10067 10068 10069
386 10070 10071 10072 10073 10074 10075 10076 10077 10078 10079 10080 10081
387 10082 10083 10084 10085 10086 10087 10088 10089 10090 10091 10092 10093
388 10094 10095 10096 10097 10098 10099 10100 10101 10102 10103 10104 10105
389 10106 10107 10108 10109 10110 10111 10112 10113 10114 10115 10116 10117
390 10118 10119 10120 10121 10122 10123 10124 10125 10126 10127 10128 10129
391 10130 10131 10132 10133 10134 10135 10136 10137 10138 10139 10140 10141
392 10142 10143 10144 10145 10146 10147 10148 10149 10150 10151 10152 10153
393 10154 10155 10156 10157 10158 10159 10160 10161 10162 10163 10164 10165
394 10166 10167 10168 10169 10170 10171 10172 10173 10174 10175 10176 10177
395 10178 10179 10180 10181 10182 10183 10184 10185 10186 10187 10188 10189
396 10190 10191 10192 10193 10194 10195 10196 10197 10198 10199 10200 10201
397 10202 10203 10204 10205 10206 10207 10208 10209 10210 10211 10212 10213
398 10214 10215 10216 10217 10218 10219 10220 10221 10222 10223 10224 10225
399 10226 10227 10228 10229 10230 10231 10232 10233 10234 10235 10236 10237
400 10238 10239 10240 10241 10242 10243 10244 10245 10246 10247 10248 10249


Cir. int. auxiliary Operation
Target position Dwell M Sub. Axis Helical Circular Control
Step point speed
time code setting int. int. turns word
Low High Low High Low High
1 9890 9891 9892 9893 9894 9895 9896 9897 9898 9899 9900 9901
2 9902 9903 9904 9905 9906 9907 9908 9909 9910 9911 9912 9913
3 9914 9915 9916 9917 9918 9919 9920 9921 9922 9923 9924 9925
4 9926 9927 9928 9929 9930 9931 9932 9933 9934 9935 9936 9937
5 9938 9939 9940 9941 9942 9943 9944 9945 9946 9947 9948 9949
6 9950 9951 9952 9953 9954 9955 9956 9957 9958 9959 9960 9961
7 9962 9963 9964 9965 9966 9967 9968 9969 9970 9971 9972 9973
8 9974 9975 9976 9977 9978 9979 9980 9981 9982 9983 9984 9985
9 9986 9987 9988 9989 9990 9991 9992 9993 9994 9995 9996 9997
10 9998 9999 10000 10001 10002 10003 10004 10005 10006 10007 10008 10009
11 10010 10011 10012 10013 10014 10015 10016 10017 10018 10019 10020 10021
12 10022 10023 10024 10025 10026 10027 10028 10029 10030 10031 10032 10033
13 10034 10035 10036 10037 10038 10039 10040 10041 10042 10043 10044 10045
14 10046 10047 10048 10049 10050 10051 10052 10053 10054 10055 10056 10057
15 10058 10059 10060 10061 10062 10063 10064 10065 10066 10067 10068 10069
16 10070 10071 10072 10073 10074 10075 10076 10077 10078 10079 10080 10081
17 10082 10083 10084 10085 10086 10087 10088 10089 10090 10091 10092 10093
18 10094 10095 10096 10097 10098 10099 10100 10101 10102 10103 10104 10105
19 10106 10107 10108 10109 10110 10111 10112 10113 10114 10115 10116 10117
20 10118 10119 10120 10121 10122 10123 10124 10125 10126 10127 10128 10129
21 10130 10131 10132 10133 10134 10135 10136 10137 10138 10139 10140 10141
22 10142 10143 10144 10145 10146 10147 10148 10149 10150 10151 10152 10153
23 10154 10155 10156 10157 10158 10159 10160 10161 10162 10163 10164 10165
24 10166 10167 10168 10169 10170 10171 10172 10173 10174 10175 10176 10177
25 10178 10179 10180 10181 10182 10183 10184 10185 10186 10187 10188 10189
26 10190 10191 10192 10193 10194 10195 10196 10197 10198 10199 10200 10201
27 10202 10203 10204 10205 10206 10207 10208 10209 10210 10211 10212 10213
28 10214 10215 10216 10217 10218 10219 10220 10221 10222 10223 10224 10225
29 10226 10227 10228 10229 10230 10231 10232 10233 10234 10235 10236 10237
30 10238 10239 10240 10241 10242 10243 10244 10245 10246 10247 10248 10249
31 10250 10251 10252 10253 10254 10255 10256 10257 10258 10259 10260 10261
32 10262 10263 10264 10265 10266 10267 10268 10269 10270 10271 10272 10273
33 10274 10275 10276 10277 10278 10279 10280 10281 10282 10283 10284 10285
34 10286 10287 10288 10289 10290 10291 10292 10293 10294 10295 10296 10297
35 10298 10299 10300 10301 10302 10303 10304 10305 10306 10307 10308 10309
36 10310 10311 10312 10313 10314 10315 10316 10317 10318 10319 10320 10321
37 10322 10323 10324 10325 10326 10327 10328 10329 10330 10331 10332 10333
38 10334 10335 10336 10337 10338 10339 10340 10341 10342 10343 10344 10345
39 10346 10347 10348 10349 10350 10351 10352 10353 10354 10355 10356 10357
40 10358 10359 10360 10361 10362 10363 10364 10365 10366 10367 10368 10369
41 10370 10371 10372 10373 10374 10375 10376 10377 10378 10379 10380 10381
42 10382 10383 10384 10385 10386 10387 10388 10389 10390 10391 10392 10393
43 10394 10395 10396 10397 10398 10399 10400 10401 10402 10403 10404 10405
44 10406 10407 10408 10409 10410 10411 10412 10413 10414 10415 10416 10417
45 10418 10419 10420 10421 10422 10423 10424 10425 10426 10427 10428 10429
46 10430 10431 10432 10433 10434 10435 10436 10437 10438 10439 10440 10441

47 10442 10443 10444 10445 10446 10447 10448 10449 10450 10451 10452 10453
48 10454 10455 10456 10457 10458 10459 10460 10461 10462 10463 10464 10465
Cir. int. auxiliary Operation

Target position Dwell M Sub. Axis Helical Circular Control
Step point speed
time code setting int. int. turns word
Low High Low High Low High
49 10466 10467 10468 10469 10470 10471 10472 10473 10474 10475 10476 10477
50 10478 10479 10480 10481 10482 10483 10484 10485 10486 10487 10488 10489
51 10490 10491 10492 10493 10494 10495 10496 10497 10498 10499 10500 10501
52 10502 10503 10504 10505 10506 10507 10508 10509 10510 10511 10512 10513
53 10514 10515 10516 10517 10518 10519 10520 10521 10522 10523 10524 10525
54 10526 10527 10528 10529 10530 10531 10532 10533 10534 10535 10536 10537
55 10538 10539 10540 10541 10542 10543 10544 10545 10546 10547 10548 10549
56 10550 10551 10552 10553 10554 10555 10556 10557 10558 10559 10560 10561
57 10562 10563 10564 10565 10566 10567 10568 10569 10570 10571 10572 10573
58 10574 10575 10576 10577 10578 10579 10580 10581 10582 10583 10584 10585
59 10586 10587 10588 10589 10590 10591 10592 10593 10594 10595 10596 10597
60 10598 10599 10600 10601 10602 10603 10604 10605 10606 10607 10608 10609
61 10610 10611 10612 10613 10614 10615 10616 10617 10618 10619 10620 10621
62 10622 10623 10624 10625 10626 10627 10628 10629 10630 10631 10632 10633
63 10634 10635 10636 10637 10638 10639 10640 10641 10642 10643 10644 10645
64 10646 10647 10648 10649 10650 10651 10652 10653 10654 10655 10656 10657
65 10658 10659 10660 10661 10662 10663 10664 10665 10666 10667 10668 10669
66 10670 10671 10672 10673 10674 10675 10676 10677 10678 10679 10680 10681
67 10682 10683 10684 10685 10686 10687 10688 10689 10690 10691 10692 10693
68 10694 10695 10696 10697 10698 10699 10700 10701 10702 10703 10704 10705
69 10706 10707 10708 10709 10710 10711 10712 10713 10714 10715 10716 10717
70 10718 10719 10720 10721 10722 10723 10724 10725 10726 10727 10728 10729
71 10730 10731 10732 10733 10734 10735 10736 10737 10738 10739 10740 10741
72 10742 10743 10744 10745 10746 10747 10748 10749 10750 10751 10752 10753
73 10754 10755 10756 10757 10758 10759 10760 10761 10762 10763 10764 10765
74 10766 10767 10768 10769 10770 10771 10772 10773 10774 10775 10776 10777
75 10778 10779 10780 10781 10782 10783 10784 10785 10786 10787 10788 10789
76 10790 10791 10792 10793 10794 10795 10796 10797 10798 10799 10800 10801
77 10802 10803 10804 10805 10806 10807 10808 10809 10810 10811 10812 10813
78 10814 10815 10816 10817 10818 10819 10820 10821 10822 10823 10824 10825
79 10826 10827 10828 10829 10830 10831 10832 10833 10834 10835 10836 10837
80 10838 10839 10840 10841 10842 10843 10844 10845 10846 10847 10848 10849
81 10850 10851 10852 10853 10854 10855 10856 10857 10858 10859 10860 10861
82 10862 10863 10864 10865 10866 10867 10868 10869 10870 10871 10872 10873
83 10874 10875 10876 10877 10878 10879 10880 10881 10882 10883 10884 10885
84 10886 10887 10888 10889 10890 10891 10892 10893 10894 10895 10896 10897
85 10898 10899 10900 10901 10902 10903 10904 10905 10906 10907 10908 10909
86 10910 10911 10912 10913 10914 10915 10916 10917 10918 10919 10920 10921
87 10922 10923 10924 10925 10926 10927 10928 10929 10930 10931 10932 10933
88 10934 10935 10936 10937 10938 10939 10940 10941 10942 10943 10944 10945
89 10946 10947 10948 10949 10950 10951 10952 10953 10954 10955 10956 10957
90 10958 10959 10960 10961 10962 10963 10964 10965 10966 10967 10968 10969
91 10970 10971 10972 10973 10974 10975 10976 10977 10978 10979 10980 10981
92 10982 10983 10984 10985 10986 10987 10988 10989 10990 10991 10992 10993
93 10994 10995 10996 10997 10998 10999 11000 11001 11002 11003 11004 11005
94 11006 11007 11008 11009 11010 11011 11012 11013 11014 11015 11016 11017

95 11018 11019 11020 11021 11022 11023 11024 11025 11026 11027 11028 11029
96 11030 11031 11032 11033 11034 11035 11036 11037 11038 11039 11040 11041
97 11042 11043 11044 11045 11046 11047 11048 11049 11050 11051 11052 11053
Cir. int. auxiliary Operation Sub.

Target position Dwell M Helical Circular Control
Step point speed Axis
time code int. int. turns word
Low High Low High Low High setting
98 11054 11055 11056 11057 11058 11059 11060 11061 11062 11063 11064 11065
99 11066 11067 11068 11069 11070 11071 11072 11073 11074 11075 11076 11077
100 11078 11079 11080 11081 11082 11083 11084 11085 11086 11087 11088 11089
101 11090 11091 11092 11093 11094 11095 11096 11097 11098 11099 11100 11101
102 11102 11103 11104 11105 11106 11107 11108 11109 11110 11111 11112 11113
103 11114 11115 11116 11117 11118 11119 11120 11121 11122 11123 11124 11125
104 11126 11127 11128 11129 11130 11131 11132 11133 11134 11135 11136 11137
105 11138 11139 11140 11141 11142 11143 11144 11145 11146 11147 11148 11149
106 11150 11151 11152 11153 11154 11155 11156 11157 11158 11159 11160 11161
107 11162 11163 11164 11165 11166 11167 11168 11169 11170 11171 11172 11173
108 11174 11175 11176 11177 11178 11179 11180 11181 11182 11183 11184 11185
109 11186 11187 11188 11189 11190 11191 11192 11193 11194 11195 11196 11197
110 11198 11199 11200 11201 11202 11203 11204 11205 11206 11207 11208 11209
111 11210 11211 11212 11213 11214 11215 11216 11217 11218 11219 11220 11221
112 11222 11223 11224 11225 11226 11227 11228 11229 11230 11231 11232 11233
113 11234 11235 11236 11237 11238 11239 11240 11241 11242 11243 11244 11245
114 11246 11247 11248 11249 11250 11251 11252 11253 11254 11255 11256 11257
115 11258 11259 11260 11261 11262 11263 11264 11265 11266 11267 11268 11269
116 11270 11271 11272 11273 11274 11275 11276 11277 11278 11279 11280 11281
117 11282 11283 11284 11285 11286 11287 11288 11289 11290 11291 11292 11293
118 11294 11295 11296 11297 11298 11299 11300 11301 11302 11303 11304 11305
119 11306 11307 11308 11309 11310 11311 11312 11313 11314 11315 11316 11317
120 11318 11319 11320 11321 11322 11323 11324 11325 11326 11327 11328 11329
121 11330 11331 11332 11333 11334 11335 11336 11337 11338 11339 11340 11341
122 11342 11343 11344 11345 11346 11347 11348 11349 11350 11351 11352 11353
123 11354 11355 11356 11357 11358 11359 11360 11361 11362 11363 11364 11365
124 11366 11367 11368 11369 11370 11371 11372 11373 11374 11375 11376 11377
125 11378 11379 11380 11381 11382 11383 11384 11385 11386 11387 11388 11389
126 11390 11391 11392 11393 11394 11395 11396 11397 11398 11399 11400 11401
127 11402 11403 11404 11405 11406 11407 11408 11409 11410 11411 11412 11413
128 11414 11415 11416 11417 11418 11419 11420 11421 11422 11423 11424 11425
129 11426 11427 11428 11429 11430 11431 11432 11433 11434 11435 11436 11437
130 11438 11439 11440 11441 11442 11443 11444 11445 11446 11447 11448 11449
131 11450 11451 11452 11453 11454 11455 11456 11457 11458 11459 11460 11461
132 11462 11463 11464 11465 11466 11467 11468 11469 11470 11471 11472 11473
133 11474 11475 11476 11477 11478 11479 11480 11481 11482 11483 11484 11485
134 11486 11487 11488 11489 11490 11491 11492 11493 11494 11495 11496 11497
135 11498 11499 11500 11501 11502 11503 11504 11505 11506 11507 11508 11509
136 11510 11511 11512 11513 11514 11515 11516 11517 11518 11519 11520 11521
137 11522 11523 11524 11525 11526 11527 11528 11529 11530 11531 11532 11533
138 11534 11535 11536 11537 11538 11539 11540 11541 11542 11543 11544 11545
139 11546 11547 11548 11549 11550 11551 11552 11553 11554 11555 11556 11557
140 11558 11559 11560 11561 11562 11563 11564 11565 11566 11567 11568 11569
141 11570 11571 11572 11573 11574 11575 11576 11577 11578 11579 11580 11581
142 11582 11583 11584 11585 11586 11587 11588 11589 11590 11591 11592 11593
143 11594 11595 11596 11597 11598 11599 11600 11601 11602 11603 11604 11605
144 11606 11607 11608 11609 11610 11611 11612 11613 11614 11615 11616 11617

145 11618 11619 11620 11621 11622 11623 11624 11625 11626 11627 11628 11629
146 11630 11631 11632 11633 11634 11635 11636 11637 11638 11639 11640 11641

147 11642 11643 11644 11645 11646 11647 11648 11649 11650 11651 11652 11653
148 11654 11655 11656 11657 11658 11659 11660 11661 11662 11663 11664 11665
149 11666 11667 11668 11669 11670 11671 11672 11673 11674 11675 11676 11677
150 11678 11679 11680 11681 11682 11683 11684 11685 11686 11687 11688 11689
151 11690 11691 11692 11693 11694 11695 11696 11697 11698 11699 11700 11701
152 11702 11703 11704 11705 11706 11707 11708 11709 11710 11711 11712 11713
153 11714 11715 11716 11717 11718 11719 11720 11721 11722 11723 11724 11725
154 11726 11727 11728 11729 11730 11731 11732 11733 11734 11735 11736 11737
155 11738 11739 11740 11741 11742 11743 11744 11745 11746 11747 11748 11749
156 11750 11751 11752 11753 11754 11755 11756 11757 11758 11759 11760 11761
157 11762 11763 11764 11765 11766 11767 11768 11769 11770 11771 11772 11773
158 11774 11775 11776 11777 11778 11779 11780 11781 11782 11783 11784 11785
159 11786 11787 11788 11789 11790 11791 11792 11793 11794 11795 11796 11797
160 11798 11799 11800 11801 11802 11803 11804 11805 11806 11807 11808 11809
161 11810 11811 11812 11813 11814 11815 11816 11817 11818 11819 11820 11821
162 11822 11823 11824 11825 11826 11827 11828 11829 11830 11831 11832 11833
163 11834 11835 11836 11837 11838 11839 11840 11841 11842 11843 11844 11845
164 11846 11847 11848 11849 11850 11851 11852 11853 11854 11855 11856 11857
165 11858 11859 11860 11861 11862 11863 11864 11865 11866 11867 11868 11869
166 11870 11871 11872 11873 11874 11875 11876 11877 11878 11879 11880 11881
167 11882 11883 11884 11885 11886 11887 11888 11889 11890 11891 11892 11893
168 11894 11895 11896 11897 11898 11899 11900 11901 11902 11903 11904 11905
169 11906 11907 11908 11909 11910 11911 11912 11913 11914 11915 11916 11917
170 11918 11919 11920 11921 11922 11923 11924 11925 11926 11927 11928 11929
171 11930 11931 11932 11933 11934 11935 11936 11937 11938 11939 11940 11941
172 11942 11943 11944 11945 11946 11947 11948 11949 11950 11951 11952 11953
173 11954 11955 11956 11957 11958 11959 11960 11961 11962 11963 11964 11965
174 11966 11967 11968 11969 11970 11971 11972 11973 11974 11975 11976 11977
175 11978 11979 11980 11981 11982 11983 11984 11985 11986 11987 11988 11989
176 11990 11991 11992 11993 11994 11995 11996 11997 11998 11999 12000 12001
177 12002 12003 12004 12005 12006 12007 12008 12009 12010 12011 12012 12013
178 12014 12015 12016 12017 12018 12019 12020 12021 12022 12023 12024 12025
179 12026 12027 12028 12029 12030 12031 12032 12033 12034 12035 12036 12037
180 12038 12039 12040 12041 12042 12043 12044 12045 12046 12047 12048 12049
181 12050 12051 12052 12053 12054 12055 12056 12057 12058 12059 12060 12061
182 12062 12063 12064 12065 12066 12067 12068 12069 12070 12071 12072 12073
183 12074 12075 12076 12077 12078 12079 12080 12081 12082 12083 12084 12085
184 12086 12087 12088 12089 12090 12091 12092 12093 12094 12095 12096 12097
185 12098 12099 12100 12101 12102 12103 12104 12105 12106 12107 12108 12109
186 12110 12111 12112 12113 12114 12115 12116 12117 12118 12119 12120 12121
187 12122 12123 12124 12125 12126 12127 12128 12129 12130 12131 12132 12133
188 12134 12135 12136 12137 12138 12139 12140 12141 12142 12143 12144 12145
189 12146 12147 12148 12149 12150 12151 12152 12153 12154 12155 12156 12157
190 12158 12159 12160 12161 12162 12163 12164 12165 12166 12167 12168 12169
191 12170 12171 12172 12173 12174 12175 12176 12177 12178 12179 12180 12181
192 12182 12183 12184 12185 12186 12187 12188 12189 12190 12191 12192 12193
193 12194 12195 12196 12197 12198 12199 12200 12201 12202 12203 12204 12205
194 12206 12207 12208 12209 12210 12211 12212 12213 12214 12215 12216 12217

195 12218 12219 12220 12221 12222 12223 12224 12225 12226 12227 12228 12229

196 12230 12231 12232 12233 12234 12235 12236 12237 12238 12239 12240 12241
197 12242 12243 12244 12245 12246 12247 12248 12249 12250 12251 12252 12253
198 12254 12255 12256 12257 12258 12259 12260 12261 12262 12263 12264 12265
199 12266 12267 12268 12269 12270 12271 12272 12273 12274 12275 12276 12277
200 12278 12279 12280 12281 12282 12283 12284 12285 12286 12287 12288 12289
201 12290 12291 12292 12293 12294 12295 12296 12297 12298 12299 12300 12301
202 12302 12303 12304 12305 12306 12307 12308 12309 12310 12311 12312 12313
203 12314 12315 12316 12317 12318 12319 12320 12321 12322 12323 12324 12325
204 12326 12327 12328 12329 12330 12331 12332 12333 12334 12335 12336 12337
205 12338 12339 12340 12341 12342 12343 12344 12345 12346 12347 12348 12349
206 12350 12351 12352 12353 12354 12355 12356 12357 12358 12359 12360 12361
207 12362 12363 12364 12365 12366 12367 12368 12369 12370 12371 12372 12373
208 12374 12375 12376 12377 12378 12379 12380 12381 12382 12383 12384 12385
209 12386 12387 12388 12389 12390 12391 12392 12393 12394 12395 12396 12397
210 12398 12399 12400 12401 12402 12403 12404 12405 12406 12407 12408 12409
211 12410 12411 12412 12413 12414 12415 12416 12417 12418 12419 12420 12421
212 12422 12423 12424 12425 12426 12427 12428 12429 12430 12431 12432 12433
213 12434 12435 12436 12437 12438 12439 12440 12441 12442 12443 12444 12445
214 12446 12447 12448 12449 12450 12451 12452 12453 12454 12455 12456 12457
215 12458 12459 12460 12461 12462 12463 12464 12465 12466 12467 12468 12469
216 12470 12471 12472 12473 12474 12475 12476 12477 12478 12479 12480 12481
217 12482 12483 12484 12485 12486 12487 12488 12489 12490 12491 12492 12493
218 12494 12495 12496 12497 12498 12499 12500 12501 12502 12503 12504 12505
219 12506 12507 12508 12509 12510 12511 12512 12513 12514 12515 12516 12517
220 12518 12519 12520 12521 12522 12523 12524 12525 12526 12527 12528 12529
221 12530 12531 12532 12533 12534 12535 12536 12537 12538 12539 12540 12541
222 12542 12543 12544 12545 12546 12547 12548 12549 12550 12551 12552 12553
223 12554 12555 12556 12557 12558 12559 12560 12561 12562 12563 12564 12565
224 12566 12567 12568 12569 12570 12571 12572 12573 12574 12575 12576 12577
225 12578 12579 12580 12581 12582 12583 12584 12585 12586 12587 12588 12589
226 12590 12591 12592 12593 12594 12595 12596 12597 12598 12599 12600 12601
227 12602 12603 12604 12605 12606 12607 12608 12609 12610 12611 12612 12613
228 12614 12615 12616 12617 12618 12619 12620 12621 12622 12623 12624 12625
229 12626 12627 12628 12629 12630 12631 12632 12633 12634 12635 12636 12637
230 12638 12639 12640 12641 12642 12643 12644 12645 12646 12647 12648 12649
231 12650 12651 12652 12653 12654 12655 12656 12657 12658 12659 12660 12661
232 12662 12663 12664 12665 12666 12667 12668 12669 12670 12671 12672 12673
233 12674 12675 12676 12677 12678 12679 12680 12681 12682 12683 12684 12685
234 12686 12687 12688 12689 12690 12691 12692 12693 12694 12695 12696 12697
235 12698 12699 12700 12701 12702 12703 12704 12705 12706 12707 12708 12709
236 12710 12711 12712 12713 12714 12715 12716 12717 12718 12719 12720 12721
237 12722 12723 12724 12725 12726 12727 12728 12729 12730 12731 12732 12733
238 12734 12735 12736 12737 12738 12739 12740 12741 12742 12743 12744 12745
239 12746 12747 12748 12749 12750 12751 12752 12753 12754 12755 12756 12757
240 12758 12759 12760 12761 12762 12763 12764 12765 12766 12767 12768 12769
241 12770 12771 12772 12773 12774 12775 12776 12777 12778 12779 12780 12781

242 12782 12783 12784 12785 12786 12787 12788 12789 12790 12791 12792 12793
243 12794 12795 12796 12797 12798 12799 12800 12801 12802 12803 12804 12805
244 12806 12807 12808 12809 12810 12811 12812 12813 12814 12815 12816 12817

245 12818 12819 12820 12821 12822 12823 12824 12825 12826 12827 12828 12829
246 12830 12831 12832 12833 12834 12835 12836 12837 12838 12839 12840 12841
247 12842 12843 12844 12845 12846 12847 12848 12849 12850 12851 12852 12853
248 12854 12855 12856 12857 12858 12859 12860 12861 12862 12863 12864 12865
249 12866 12867 12868 12869 12870 12871 12872 12873 12874 12875 12876 12877
250 12878 12879 12880 12881 12882 12883 12884 12885 12886 12887 12888 12889
251 12890 12891 12892 12893 12894 12895 12896 12897 12898 12899 12900 12901
252 12902 12903 12904 12905 12906 12907 12908 12909 12910 12911 12912 12913
253 12914 12915 12916 12917 12918 12919 12920 12921 12922 12923 12924 12925
254 12926 12927 12928 12929 12930 12931 12932 12933 12934 12935 12936 12937
255 12938 12939 12940 12941 12942 12943 12944 12945 12946 12947 12948 12949
256 12950 12951 12952 12953 12954 12955 12956 12957 12958 12959 12960 12961
257 12962 12963 12964 12965 12966 12967 12968 12969 12970 12971 12972 12973
258 12974 12975 12976 12977 12978 12979 12980 12981 12982 12983 12984 12985
259 12986 12987 12988 12989 12990 12991 12992 12993 12994 12995 12996 12997
260 12998 12999 13000 13001 13002 13003 13004 13005 13006 13007 13008 13009
261 13010 13011 13012 13013 13014 13015 13016 13017 13018 13019 13020 13021
262 13022 13023 13024 13025 13026 13027 13028 13029 13030 13031 13032 13033
263 13034 13035 13036 13037 13038 13039 13040 13041 13042 13043 13044 13045
264 13046 13047 13048 13049 13050 13051 13052 13053 13054 13055 13056 13057
265 13058 13059 13060 13061 13062 13063 13064 13065 13066 13067 13068 13069
266 13070 13071 13072 13073 13074 13075 13076 13077 13078 13079 13080 13081
267 13082 13083 13084 13085 13086 13087 13088 13089 13090 13091 13092 13093
268 13094 13095 13096 13097 13098 13099 13100 13101 13102 13103 13104 13105
269 13106 13107 13108 13109 13110 13111 13112 13113 13114 13115 13116 13117
270 13118 13119 13120 13121 13122 13123 13124 13125 13126 13127 13128 13129
271 13130 13131 13132 13133 13134 13135 13136 13137 13138 13139 13140 13141
272 13142 13143 13144 13145 13146 13147 13148 13149 13150 13151 13152 13153
273 13154 13155 13156 13157 13158 13159 13160 13161 13162 13163 13164 13165
274 13166 13167 13168 13169 13170 13171 13172 13173 13174 13175 13176 13177
275 13178 13179 13180 13181 13182 13183 13184 13185 13186 13187 13188 13189
276 13190 13191 13192 13193 13194 13195 13196 13197 13198 13199 13200 13201
277 13202 13203 13204 13205 13206 13207 13208 13209 13210 13211 13212 13213
278 13214 13215 13216 13217 13218 13219 13220 13221 13222 13223 13224 13225
279 13226 13227 13228 13229 13230 13231 13232 13233 13234 13235 13236 13237
280 13238 13239 13240 13241 13242 13243 13244 13245 13246 13247 13248 13249
281 13250 13251 13252 13253 13254 13255 13256 13257 13258 13259 13260 13261
282 13262 13263 13264 13265 13266 13267 13268 13269 13270 13271 13272 13273
283 13274 13275 13276 13277 13278 13279 13280 13281 13282 13283 13284 13285
284 13286 13287 13288 13289 13290 13291 13292 13293 13294 13295 13296 13297
285 13298 13299 13300 13301 13302 13303 13304 13305 13306 13307 13308 13309
286 13310 13311 13312 13313 13314 13315 13316 13317 13318 13319 13320 13321
287 13322 13323 13324 13325 13326 13327 13328 13329 13330 13331 13332 13333
288 13334 13335 13336 13337 13338 13339 13340 13341 13342 13343 13344 13345
289 13346 13347 13348 13349 13350 13351 13352 13353 13354 13355 13356 13357
290 13358 13359 13360 13361 13362 13363 13364 13365 13366 13367 13368 13369
291 13370 13371 13372 13373 13374 13375 13376 13377 13378 13379 13380 13381

292 13382 13383 13384 13385 13386 13387 13388 13389 13390 13391 13392 13393
293 13394 13395 13396 13397 13398 13399 13400 13401 13402 13403 13404 13405

294 13406 13407 13408 13409 13410 13411 13412 13413 13414 13415 13416 13417
295 13418 13419 13420 13421 13422 13423 13424 13425 13426 13427 13428 13429
296 13430 13431 13432 13433 13434 13435 13436 13437 13438 13439 13440 13441
297 13442 13443 13444 13445 13446 13447 13448 13449 13450 13451 13452 13453
298 13454 13455 13456 13457 13458 13459 13460 13461 13462 13463 13464 13465
299 13466 13467 13468 13469 13470 13471 13472 13473 13474 13475 13476 13477
300 13478 13479 13480 13481 13482 13483 13484 13485 13486 13487 13488 13489
301 13490 13491 13492 13493 13494 13495 13496 13497 13498 13499 13500 13501
302 13502 13503 13504 13505 13506 13507 13508 13509 13510 13511 13512 13513
303 13514 13515 13516 13517 13518 13519 13520 13521 13522 13523 13524 13525
304 13526 13527 13528 13529 13530 13531 13532 13533 13534 13535 13536 13537
305 13538 13539 13540 13541 13542 13543 13544 13545 13546 13547 13548 13549
306 13550 13551 13552 13553 13554 13555 13556 13557 13558 13559 13560 13561
307 13562 13563 13564 13565 13566 13567 13568 13569 13570 13571 13572 13573
308 13574 13575 13576 13577 13578 13579 13580 13581 13582 13583 13584 13585
309 13586 13587 13588 13589 13590 13591 13592 13593 13594 13595 13596 13597
310 13598 13599 13600 13601 13602 13603 13604 13605 13606 13607 13608 13609
311 13610 13611 13612 13613 13614 13615 13616 13617 13618 13619 13620 13621
312 13622 13623 13624 13625 13626 13627 13628 13629 13630 13631 13632 13633
313 13634 13635 13636 13637 13638 13639 13640 13641 13642 13643 13644 13645
314 13646 13647 13648 13649 13650 13651 13652 13653 13654 13655 13656 13657
315 13658 13659 13660 13661 13662 13663 13664 13665 13666 13667 13668 13669
316 13670 13671 13672 13673 13674 13675 13676 13677 13678 13679 13680 13681
317 13682 13683 13684 13685 13686 13687 13688 13689 13690 13691 13692 13693
318 13694 13695 13696 13697 13698 13699 13700 13701 13702 13703 13704 13705
319 13706 13707 13708 13709 13710 13711 13712 13713 13714 13715 13716 13717
320 13718 13719 13720 13721 13722 13723 13724 13725 13726 13727 13728 13729
321 13730 13731 13732 13733 13734 13735 13736 13737 13738 13739 13740 13741
322 13742 13743 13744 13745 13746 13747 13748 13749 13750 13751 13752 13753
323 13754 13755 13756 13757 13758 13759 13760 13761 13762 13763 13764 13765
324 13766 13767 13768 13769 13770 13771 13772 13773 13774 13775 13776 13777
325 13778 13779 13780 13781 13782 13783 13784 13785 13786 13787 13788 13789
326 13790 13791 13792 13793 13794 13795 13796 13797 13798 13799 13800 13801
327 13802 13803 13804 13805 13806 13807 13808 13809 13810 13811 13812 13813
328 13814 13815 13816 13817 13818 13819 13820 13821 13822 13823 13824 13825
329 13826 13827 13828 13829 13830 13831 13832 13833 13834 13835 13836 13837
330 13838 13839 13840 13841 13842 13843 13844 13845 13846 13847 13848 13849
331 13850 13851 13852 13853 13854 13855 13856 13857 13858 13859 13860 13861
332 13862 13863 13864 13865 13866 13867 13868 13869 13870 13871 13872 13873
333 13874 13875 13876 13877 13878 13879 13880 13881 13882 13883 13884 13885
334 13886 13887 13888 13889 13890 13891 13892 13893 13894 13895 13896 13897
335 13898 13899 13900 13901 13902 13903 13904 13905 13906 13907 13908 13909
336 13910 13911 13912 13913 13914 13915 13916 13917 13918 13919 13920 13921
337 13922 13923 13924 13925 13926 13927 13928 13929 13930 13931 13932 13933
338 13934 13935 13936 13937 13938 13939 13940 13941 13942 13943 13944 13945
339 13946 13947 13948 13949 13950 13951 13952 13953 13954 13955 13956 13957

340 13958 13959 13960 13961 13962 13963 13964 13965 13966 13967 13968 13969
341 13970 13971 13972 13973 13974 13975 13976 13977 13978 13979 13980 13981
342 13982 13983 13984 13985 13986 13987 13988 13989 13990 13991 13992 13993

343 13994 13995 13996 13997 13998 13999 14000 14001 14002 14003 14004 14005
344 14006 14007 14008 14009 14010 14011 14012 14013 14014 14015 14016 14017
345 14018 14019 14020 14021 14022 14023 14024 14025 14026 14027 14028 14029
346 14030 14031 14032 14033 14034 14035 14036 14037 14038 14039 14040 14041
347 14042 14043 14044 14045 14046 14047 14048 14049 14050 14051 14052 14053
348 14054 14055 14056 14057 14058 14059 14060 14061 14062 14063 14064 14065
349 14066 14067 14068 14069 14070 14071 14072 14073 14074 14075 14076 14077
350 14078 14079 14080 14081 14082 14083 14084 14085 14086 14087 14088 14089
351 14090 14091 14092 14093 14094 14095 14096 14097 14098 14099 14100 14101
352 14102 14103 14104 14105 14106 14107 14108 14109 14110 14111 14112 14113
353 14114 14115 14116 14117 14118 14119 14120 14121 14122 14123 14124 14125
354 14126 14127 14128 14129 14130 14131 14132 14133 14134 14135 14136 14137
355 14138 14139 14140 14141 14142 14143 14144 14145 14146 14147 14148 14149
356 14150 14151 14152 14153 14154 14155 14156 14157 14158 14159 14160 14161
357 14162 14163 14164 14165 14166 14167 14168 14169 14170 14171 14172 14173
358 14174 14175 14176 14177 14178 14179 14180 14181 14182 14183 14184 14185
359 14186 14187 14188 14189 14190 14191 14192 14193 14194 14195 14196 14197
360 14198 14199 14200 14201 14202 14203 14204 14205 14206 14207 14208 14209
361 14210 14211 14212 14213 14214 14215 14216 14217 14218 14219 14220 14221
362 14222 14223 14224 14225 14226 14227 14228 14229 14230 14231 14232 14233
363 14234 14235 14236 14237 14238 14239 14240 14241 14242 14243 14244 14245
364 14246 14247 14248 14249 14250 14251 14252 14253 14254 14255 14256 14257
365 14258 14259 14260 14261 14262 14263 14264 14265 14266 14267 14268 14269
366 14270 14271 14272 14273 14274 14275 14276 14277 14278 14279 14280 14281
367 14282 14283 14284 14285 14286 14287 14288 14289 14290 14291 14292 14293
368 14294 14295 14296 14297 14298 14299 14300 14301 14302 14303 14304 14305
369 14306 14307 14308 14309 14310 14311 14312 14313 14314 14315 14316 14317
370 14318 14319 14320 14321 14322 14323 14324 14325 14326 14327 14328 14329
371 14330 14331 14332 14333 14334 14335 14336 14337 14338 14339 14340 14341
372 14342 14343 14344 14345 14346 14347 14348 14349 14350 14351 14352 14353
373 14354 14355 14356 14357 14358 14359 14360 14361 14362 14363 14364 14365
374 14366 14367 14368 14369 14370 14371 14372 14373 14374 14375 14376 14377
375 14378 14379 14380 14381 14382 14383 14384 14385 14386 14387 14388 14389
376 14390 14391 14392 14393 14394 14395 14396 14397 14398 14399 14400 14401
377 14402 14403 14404 14405 14406 14407 14408 14409 14410 14411 14412 14413
378 14414 14415 14416 14417 14418 14419 14420 14421 14422 14423 14424 14425
379 14426 14427 14428 14429 14430 14431 14432 14433 14434 14435 14436 14437
380 14438 14439 14440 14441 14442 14443 14444 14445 14446 14447 14448 14449
381 14450 14451 14452 14453 14454 14455 14456 14457 14458 14459 14460 14461
382 14462 14463 14464 14465 14466 14467 14468 14469 14470 14471 14472 14473
383 14474 14475 14476 14477 14478 14479 14480 14481 14482 14483 14484 14485
384 14486 14487 14488 14489 14490 14491 14492 14493 14494 14495 14496 14497
385 14498 14499 14500 14501 14502 14503 14504 14505 14506 14507 14508 14509
386 14510 14511 14512 14513 14514 14515 14516 14517 14518 14519 14520 14521
387 14522 14523 14524 14525 14526 14527 14528 14529 14530 14531 14532 14533
388 14534 14535 14536 14537 14538 14539 14540 14541 14542 14543 14544 14545
389 14546 14547 14548 14549 14550 14551 14552 14553 14554 14555 14556 14557

390 14558 14559 14560 14561 14562 14563 14564 14565 14566 14567 14568 14569
391 14570 14571 14572 14573 14574 14575 14576 14577 14578 14579 14580 14581

392 14582 14583 14584 14585 14586 14587 14588 14589 14590 14591 14592 14593
393 14594 14595 14596 14597 14598 14599 14600 14601 14602 14603 14604 14605
394 14606 14607 14608 14609 14610 14611 14612 14613 14614 14615 14616 14617
395 14618 14619 14620 14621 14622 14623 14624 14625 14626 14627 14628 14629
396 14630 14631 14632 14633 14634 14635 14636 14637 14638 14639 14640 14641
397 14642 14643 14644 14645 14646 14647 14648 14649 14650 14651 14652 14653
398 14654 14655 14656 14657 14658 14659 14660 14661 14662 14663 14664 14665
399 14666 14667 14668 14669 14670 14671 14672 14673 14674 14675 14676 14677
400 14678 14679 14680 14681 14682 14683 14684 14685 14686 14687 14688 14689


Cir. int. auxiliary Circular
Target position Operation speed Dwell M Sub. Axis Helical Control
Step point int.
time code setting int. word
1 15050 15051 15052 15053 15054 15055 15056 15057 15058 15059 15060 15061
2 15062 15063 15064 15065 15066 15067 15068 15069 15070 15071 15072 15073
3 15074 15075 15076 15077 15078 15079 15080 15081 15082 15083 15084 15085
4 15086 15087 15088 15089 15090 15091 15092 15093 15094 15095 15096 15097
5 15098 15099 15100 15101 15102 15103 15104 15105 15106 15107 15108 15109
6 15110 15111 15112 15113 15114 15115 15116 15117 15118 15119 15120 15121
7 15122 15123 15124 15125 15126 15127 15128 15129 15130 15131 15132 15133
8 15134 15135 15136 15137 15138 15139 15140 15141 15142 15143 15144 15145
9 15146 15147 15148 15149 15150 15151 15152 15153 15154 15155 15156 15157
10 15158 15159 15160 15161 15162 15163 15164 15165 15166 15167 15168 15169
11 15170 15171 15172 15173 15174 15175 15176 15177 15178 15179 15180 15181
12 15182 15183 15184 15185 15186 15187 15188 15189 15190 15191 15192 15193
13 15194 15195 15196 15197 15198 15199 15200 15201 15202 15203 15204 15205
14 15206 15207 15208 15209 15210 15211 15212 15213 15214 15215 15216 15217
15 15218 15219 15220 15221 15222 15223 15224 15225 15226 15227 15228 15229
16 15230 15231 15232 15233 15234 15235 15236 15237 15238 15239 15240 15241
17 15242 15243 15244 15245 15246 15247 15248 15249 15250 15251 15252 15253
18 15254 15255 15256 15257 15258 15259 15260 15261 15262 15263 15264 15265
19 15266 15267 15268 15269 15270 15271 15272 15273 15274 15275 15276 15277
20 15278 15279 15280 15281 15282 15283 15284 15285 15286 15287 15288 15289
21 15290 15291 15292 15293 15294 15295 15296 15297 15298 15299 15300 15301
22 15302 15303 15304 15305 15306 15307 15308 15309 15310 15311 15312 15313
23 15314 15315 15316 15317 15318 15319 15320 15321 15322 15323 15324 15325
24 15326 15327 15328 15329 15330 15331 15332 15333 15334 15335 15336 15337
25 15338 15339 15340 15341 15342 15343 15344 15345 15346 15347 15348 15349
26 15350 15351 15352 15353 15354 15355 15356 15357 15358 15359 15360 15361
27 15362 15363 15364 15365 15366 15367 15368 15369 15370 15371 15372 15373
28 15374 15375 15376 15377 15378 15379 15380 15381 15382 15383 15384 15385
29 15386 15387 15388 15389 15390 15391 15392 15393 15394 15395 15396 15397
30 15398 15399 15400 15401 15402 15403 15404 15405 15406 15407 15408 15409
31 15410 15411 15412 15413 15414 15415 15416 15417 15418 15419 15420 15421
32 15422 15423 15424 15425 15426 15427 15428 15429 15430 15431 15432 15433
33 15434 15435 15436 15437 15438 15439 15440 15441 15442 15443 15444 15445
34 15446 15447 15448 15449 15450 15451 15452 15453 15454 15455 15456 15457
35 15458 15459 15460 15461 15462 15463 15464 15465 15466 15467 15468 15469
36 15470 15471 15472 15473 15474 15475 15476 15477 15478 15479 15480 15481
37 15482 15483 15484 15485 15486 15487 15488 15489 15490 15491 15492 15493
38 15494 15495 15496 15497 15498 15499 15500 15501 15502 15503 15504 15505
39 15506 15507 15508 15509 15510 15511 15512 15513 15514 15515 15516 15517
40 15518 15519 15520 15521 15522 15523 15524 15525 15526 15527 15528 15529
41 15530 15531 15532 15533 15534 15535 15536 15537 15538 15539 15540 15541

42 15542 15543 15544 15545 15546 15547 15548 15549 15550 15551 15552 15553
43 15554 15555 15556 15557 15558 15559 15560 15561 15562 15563 15564 15565
44 15566 15567 15568 15569 15570 15571 15572 15573 15574 15575 15576 15577
45 15578 15579 15580 15581 15582 15583 15584 15585 15586 15587 15588 15589
46 15590 15591 15592 15593 15594 15595 15596 15597 15598 15599 15600 15601
47 15602 15603 15604 15605 15606 15607 15608 15609 15610 15611 15612 15613
48 15614 15615 15616 15617 15618 15619 15620 15621 15622 15623 15624 15625
49 15626 15627 15628 15629 15630 15631 15632 15633 15634 15635 15636 15637
50 15638 15639 15640 15641 15642 15643 15644 15645 15646 15647 15648 15649
51 15650 15651 15652 15653 15654 15655 15656 15657 15658 15659 15660 15661
52 15662 15663 15664 15665 15666 15667 15668 15669 15670 15671 15672 15673
53 15674 15675 15676 15677 15678 15679 15680 15681 15682 15683 15684 15685
54 15686 15687 15688 15689 15690 15691 15692 15693 15694 15695 15696 15697
55 15698 15699 15700 15701 15702 15703 15704 15705 15706 15707 15708 15709
56 15710 15711 15712 15713 15714 15715 15716 15717 15718 15719 15720 15721
57 15722 15723 15724 15725 15726 15727 15728 15729 15730 15731 15732 15733
58 15734 15735 15736 15737 15738 15739 15740 15741 15742 15743 15744 15745
59 15746 15747 15748 15749 15750 15751 15752 15753 15754 15755 15756 15757
60 15758 15759 15760 15761 15762 15763 15764 15765 15766 15767 15768 15769
61 15770 15771 15772 15773 15774 15775 15776 15777 15778 15779 15780 15781
62 15782 15783 15784 15785 15786 15787 15788 15789 15790 15791 15792 15793
63 15794 15795 15796 15797 15798 15799 15800 15801 15802 15803 15804 15805
64 15806 15807 15808 15809 15810 15811 15812 15813 15814 15815 15816 15817
65 15818 15819 15820 15821 15822 15823 15824 15825 15826 15827 15828 15829
66 15830 15831 15832 15833 15834 15835 15836 15837 15838 15839 15840 15841
67 15842 15843 15844 15845 15846 15847 15848 15849 15850 15851 15852 15853
68 15854 15855 15856 15857 15858 15859 15860 15861 15862 15863 15864 15865
69 15866 15867 15868 15869 15870 15871 15872 15873 15874 15875 15876 15877
70 15878 15879 15880 15881 15882 15883 15884 15885 15886 15887 15888 15889
71 15890 15891 15892 15893 15894 15895 15896 15897 15898 15899 15900 15901
72 15902 15903 15904 15905 15906 15907 15908 15909 15910 15911 15912 15913
73 15914 15915 15916 15917 15918 15919 15920 15921 15922 15923 15924 15925
74 15926 15927 15928 15929 15930 15931 15932 15933 15934 15935 15936 15937
75 15938 15939 15940 15941 15942 15943 15944 15945 15946 15947 15948 15949
76 15950 15951 15952 15953 15954 15955 15956 15957 15958 15959 15960 15961
77 15962 15963 15964 15965 15966 15967 15968 15969 15970 15971 15972 15973
78 15974 15975 15976 15977 15978 15979 15980 15981 15982 15983 15984 15985
79 15986 15987 15988 15989 15990 15991 15992 15993 15994 15995 15996 15997
80 15998 15999 16000 16001 16002 16003 16004 16005 16006 16007 16008 16009
81 16010 16011 16012 16013 16014 16015 16016 16017 16018 16019 16020 16021
82 16022 16023 16024 16025 16026 16027 16028 16029 16030 16031 16032 16033
83 16034 16035 16036 16037 16038 16039 16040 16041 16042 16043 16044 16045
84 16046 16047 16048 16049 16050 16051 16052 16053 16054 16055 16056 16057
85 16058 16059 16060 16061 16062 16063 16064 16065 16066 16067 16068 16069
86 16070 16071 16072 16073 16074 16075 16076 16077 16078 16079 16080 16081
87 16082 16083 16084 16085 16086 16087 16088 16089 16090 16091 16092 16093

88 16094 16095 16096 16097 16098 16099 16100 16101 16102 16103 16104 16105
89 16106 16107 16108 16109 16110 16111 16112 16113 16114 16115 16116 16117
90 16118 16119 16120 16121 16122 16123 16124 16125 16126 16127 16128 16129
91 16130 16131 16132 16133 16134 16135 16136 16137 16138 16139 16140 16141
92 16142 16143 16144 16145 16146 16147 16148 16149 16150 16151 16152 16153
93 16154 16155 16156 16157 16158 16159 16160 16161 16162 16163 16164 16165
94 16166 16167 16168 16169 16170 16171 16172 16173 16174 16175 16176 16177
95 16178 16179 16180 16181 16182 16183 16184 16185 16186 16187 16188 16189
96 16190 16191 16192 16193 16194 16195 16196 16197 16198 16199 16200 16201
97 16202 16203 16204 16205 16206 16207 16208 16209 16210 16211 16212 16213
98 16214 16215 16216 16217 16218 16219 16220 16221 16222 16223 16224 16225
99 16226 16227 16228 16229 16230 16231 16232 16233 16234 16235 16236 16237
100 16238 16239 16240 16241 16242 16243 16244 16245 16246 16247 16248 16249
101 16250 16251 16252 16253 16254 16255 16256 16257 16258 16259 16260 16261
102 16262 16263 16264 16265 16266 16267 16268 16269 16270 16271 16272 16273
103 16274 16275 16276 16277 16278 16279 16280 16281 16282 16283 16284 16285
104 16286 16287 16288 16289 16290 16291 16292 16293 16294 16295 16296 16297
105 16298 16299 16300 16301 16302 16303 16304 16305 16306 16307 16308 16309
106 16310 16311 16312 16313 16314 16315 16316 16317 16318 16319 16320 16321
107 16322 16323 16324 16325 16326 16327 16328 16329 16330 16331 16332 16333
108 16334 16335 16336 16337 16338 16339 16340 16341 16342 16343 16344 16345
109 16346 16347 16348 16349 16350 16351 16352 16353 16354 16355 16356 16357
110 16358 16359 16360 16361 16362 16363 16364 16365 16366 16367 16368 16369
111 16370 16371 16372 16373 16374 16375 16376 16377 16378 16379 16380 16381
112 16382 16383 16384 16385 16386 16387 16388 16389 16390 16391 16392 16393
113 16394 16395 16396 16397 16398 16399 16400 16401 16402 16403 16404 16405
114 16406 16407 16408 16409 16410 16411 16412 16413 16414 16415 16416 16417
115 16418 16419 16420 16421 16422 16423 16424 16425 16426 16427 16428 16429
116 16430 16431 16432 16433 16434 16435 16436 16437 16438 16439 16440 16441
117 16442 16443 16444 16445 16446 16447 16448 16449 16450 16451 16452 16453
118 16454 16455 16456 16457 16458 16459 16460 16461 16462 16463 16464 16465
119 16466 16467 16468 16469 16470 16471 16472 16473 16474 16475 16476 16477
120 16478 16479 16480 16481 16482 16483 16484 16485 16486 16487 16488 16489
121 16490 16491 16492 16493 16494 16495 16496 16497 16498 16499 16500 16501
122 16502 16503 16504 16505 16506 16507 16508 16509 16510 16511 16512 16513
123 16514 16515 16516 16517 16518 16519 16520 16521 16522 16523 16524 16525
124 16526 16527 16528 16529 16530 16531 16532 16533 16534 16535 16536 16537
125 16538 16539 16540 16541 16542 16543 16544 16545 16546 16547 16548 16549
126 16550 16551 16552 16553 16554 16555 16556 16557 16558 16559 16560 16561
127 16562 16563 16564 16565 16566 16567 16568 16569 16570 16571 16572 16573
128 16574 16575 16576 16577 16578 16579 16580 16581 16582 16583 16584 16585
129 16586 16587 16588 16589 16590 16591 16592 16593 16594 16595 16596 16597
130 16598 16599 16600 16601 16602 16603 16604 16605 16606 16607 16608 16609
131 16610 16611 16612 16613 16614 16615 16616 16617 16618 16619 16620 16621
132 16622 16623 16624 16625 16626 16627 16628 16629 16630 16631 16632 16633
133 16634 16635 16636 16637 16638 16639 16640 16641 16642 16643 16644 16645

134 16646 16647 16648 16649 16650 16651 16652 16653 16654 16655 16656 16657
135 16658 16659 16660 16661 16662 16663 16664 16665 16666 16667 16668 16669
136 16670 16671 16672 16673 16674 16675 16676 16677 16678 16679 16680 16681
137 16682 16683 16684 16685 16686 16687 16688 16689 16690 16691 16692 16693
138 16694 16695 16696 16697 16698 16699 16700 16701 16702 16703 16704 16705
139 16706 16707 16708 16709 16710 16711 16712 16713 16714 16715 16716 16717
140 16718 16719 16720 16721 16722 16723 16724 16725 16726 16727 16728 16729
141 16730 16731 16732 16733 16734 16735 16736 16737 16738 16739 16740 16741
142 16742 16743 16744 16745 16746 16747 16748 16749 16750 16751 16752 16753
143 16754 16755 16756 16757 16758 16759 16760 16761 16762 16763 16764 16765
144 16766 16767 16768 16769 16770 16771 16772 16773 16774 16775 16776 16777
145 16778 16779 16780 16781 16782 16783 16784 16785 16786 16787 16788 16789
146 16790 16791 16792 16793 16794 16795 16796 16797 16798 16799 16800 16801
147 16802 16803 16804 16805 16806 16807 16808 16809 16810 16811 16812 16813
148 16814 16815 16816 16817 16818 16819 16820 16821 16822 16823 16824 16825
149 16826 16827 16828 16829 16830 16831 16832 16833 16834 16835 16836 16837
150 16838 16839 16840 16841 16842 16843 16844 16845 16846 16847 16848 16849
151 16850 16851 16852 16853 16854 16855 16856 16857 16858 16859 16860 16861
152 16862 16863 16864 16865 16866 16867 16868 16869 16870 16871 16872 16873
153 16874 16875 16876 16877 16878 16879 16880 16881 16882 16883 16884 16885
154 16886 16887 16888 16889 16890 16891 16892 16893 16894 16895 16896 16897
155 16898 16899 16900 16901 16902 16903 16904 16905 16906 16907 16908 16909
156 16910 16911 16912 16913 16914 16915 16916 16917 16918 16919 16920 16921
157 16922 16923 16924 16925 16926 16927 16928 16929 16930 16931 16932 16933
158 16934 16935 16936 16937 16938 16939 16940 16941 16942 16943 16944 16945
159 16946 16947 16948 16949 16950 16951 16952 16953 16954 16955 16956 16957
160 16958 16959 16960 16961 16962 16963 16964 16965 16966 16967 16968 16969
161 16970 16971 16972 16973 16974 16975 16976 16977 16978 16979 16980 16981
162 16982 16983 16984 16985 16986 16987 16988 16989 16990 16991 16992 16993
163 16994 16995 16996 16997 16998 16999 17000 17001 17002 17003 17004 17005
164 17006 17007 17008 17009 17010 17011 17012 17013 17014 17015 17016 17017
165 17018 17019 17020 17021 17022 17023 17024 17025 17026 17027 17028 17029
166 17030 17031 17032 17033 17034 17035 17036 17037 17038 17039 17040 17041
167 17042 17043 17044 17045 17046 17047 17048 17049 17050 17051 17052 17053
168 17054 17055 17056 17057 17058 17059 17060 17061 17062 17063 17064 17065
169 17066 17067 17068 17069 17070 17071 17072 17073 17074 17075 17076 17077
170 17078 17079 17080 17081 17082 17083 17084 17085 17086 17087 17088 17089
171 17090 17091 17092 17093 17094 17095 17096 17097 17098 17099 17100 17101
172 17102 17103 17104 17105 17106 17107 17108 17109 17110 17111 17112 17113
173 17114 17115 17116 17117 17118 17119 17120 17121 17122 17123 17124 17125
174 17126 17127 17128 17129 17130 17131 17132 17133 17134 17135 17136 17137
175 17138 17139 17140 17141 17142 17143 17144 17145 17146 17147 17148 17149
176 17150 17151 17152 17153 17154 17155 17156 17157 17158 17159 17160 17161
177 17162 17163 17164 17165 17166 17167 17168 17169 17170 17171 17172 17173
178 17174 17175 17176 17177 17178 17179 17180 17181 17182 17183 17184 17185
179 17186 17187 17188 17189 17190 17191 17192 17193 17194 17195 17196 17197

180 17198 17199 17200 17201 17202 17203 17204 17205 17206 17207 17208 17209
181 17210 17211 17212 17213 17214 17215 17216 17217 17218 17219 17220 17221
182 17222 17223 17224 17225 17226 17227 17228 17229 17230 17231 17232 17233
183 17234 17235 17236 17237 17238 17239 17240 17241 17242 17243 17244 17245
184 17246 17247 17248 17249 17250 17251 17252 17253 17254 17255 17256 17257
185 17258 17259 17260 17261 17262 17263 17264 17265 17266 17267 17268 17269
186 17270 17271 17272 17273 17274 17275 17276 17277 17278 17279 17280 17281
187 17282 17283 17284 17285 17286 17287 17288 17289 17290 17291 17292 17293
188 17294 17295 17296 17297 17298 17299 17300 17301 17302 17303 17304 17305
189 17306 17307 17308 17309 17310 17311 17312 17313 17314 17315 17316 17317
190 17318 17319 17320 17321 17322 17323 17324 17325 17326 17327 17328 17329
191 17330 17331 17332 17333 17334 17335 17336 17337 17338 17339 17340 17341
192 17342 17343 17344 17345 17346 17347 17348 17349 17350 17351 17352 17353
193 17354 17355 17356 17357 17358 17359 17360 17361 17362 17363 17364 17365
194 17366 17367 17368 17369 17370 17371 17372 17373 17374 17375 17376 17377
195 17378 17379 17380 17381 17382 17383 17384 17385 17386 17387 17388 17389
196 17390 17391 17392 17393 17394 17395 17396 17397 17398 17399 17400 17401
197 17402 17403 17404 17405 17406 17407 17408 17409 17410 17411 17412 17413
198 17414 17415 17416 17417 17418 17419 17420 17421 17422 17423 17424 17425
199 17426 17427 17428 17429 17430 17431 17432 17433 17434 17435 17436 17437
200 17438 17439 17440 17441 17442 17443 17444 17445 17446 17447 17448 17449
201 17450 17451 17452 17453 17454 17455 17456 17457 17458 17459 17460 17461
202 17462 17463 17464 17465 17466 17467 17468 17469 17470 17471 17472 17473
203 17474 17475 17476 17477 17478 17479 17480 17481 17482 17483 17484 17485
204 17486 17487 17488 17489 17490 17491 17492 17493 17494 17495 17496 17497
205 17498 17499 17500 17501 17502 17503 17504 17505 17506 17507 17508 17509
206 17510 17511 17512 17513 17514 17515 17516 17517 17518 17519 17520 17521
207 17522 17523 17524 17525 17526 17527 17528 17529 17530 17531 17532 17533
208 17534 17535 17536 17537 17538 17539 17540 17541 17542 17543 17544 17545
209 17546 17547 17548 17549 17550 17551 17552 17553 17554 17555 17556 17557
210 17558 17559 17560 17561 17562 17563 17564 17565 17566 17567 17568 17569
211 17570 17571 17572 17573 17574 17575 17576 17577 17578 17579 17580 17581
212 17582 17583 17584 17585 17586 17587 17588 17589 17590 17591 17592 17593
213 17594 17595 17596 17597 17598 17599 17600 17601 17602 17603 17604 17605
214 17606 17607 17608 17609 17610 17611 17612 17613 17614 17615 17616 17617
215 17618 17619 17620 17621 17622 17623 17624 17625 17626 17627 17628 17629
216 17630 17631 17632 17633 17634 17635 17636 17637 17638 17639 17640 17641
217 17642 17643 17644 17645 17646 17647 17648 17649 17650 17651 17652 17653
218 17654 17655 17656 17657 17658 17659 17660 17661 17662 17663 17664 17665
219 17666 17667 17668 17669 17670 17671 17672 17673 17674 17675 17676 17677
220 17678 17679 17680 17681 17682 17683 17684 17685 17686 17687 17688 17689
221 17690 17691 17692 17693 17694 17695 17696 17697 17698 17699 17700 17701
222 17702 17703 17704 17705 17706 17707 17708 17709 17710 17711 17712 17713
223 17714 17715 17716 17717 17718 17719 17720 17721 17722 17723 17724 17725
224 17726 17727 17728 17729 17730 17731 17732 17733 17734 17735 17736 17737
225 17738 17739 17740 17741 17742 17743 17744 17745 17746 17747 17748 17749

226 17750 17751 17752 17753 17754 17755 17756 17757 17758 17759 17760 17761
227 17762 17763 17764 17765 17766 17767 17768 17769 17770 17771 17772 17773
228 17774 17775 17776 17777 17778 17779 17780 17781 17782 17783 17784 17785
229 17786 17787 17788 17789 17790 17791 17792 17793 17794 17795 17796 17797
230 17798 17799 17800 17801 17802 17803 17804 17805 17806 17807 17808 17809
231 17810 17811 17812 17813 17814 17815 17816 17817 17818 17819 17820 17821
232 17822 17823 17824 17825 17826 17827 17828 17829 17830 17831 17832 17833
233 17834 17835 17836 17837 17838 17839 17840 17841 17842 17843 17844 17845
234 17846 17847 17848 17849 17850 17851 17852 17853 17854 17855 17856 17857
235 17858 17859 17860 17861 17862 17863 17864 17865 17866 17867 17868 17869
236 17870 17871 17872 17873 17874 17875 17876 17877 17878 17879 17880 17881
237 17882 17883 17884 17885 17886 17887 17888 17889 17890 17891 17892 17893
238 17894 17895 17896 17897 17898 17899 17900 17901 17902 17903 17904 17905
239 17906 17907 17908 17909 17910 17911 17912 17913 17914 17915 17916 17917
240 17918 17919 17920 17921 17922 17923 17924 17925 17926 17927 17928 17929
241 17930 17931 17932 17933 17934 17935 17936 17937 17938 17939 17940 17941
242 17942 17943 17944 17945 17946 17947 17948 17949 17950 17951 17952 17953
243 17954 17955 17956 17957 17958 17959 17960 17961 17962 17963 17964 17965
244 17966 17967 17968 17969 17970 17971 17972 17973 17974 17975 17976 17977
245 17978 17979 17980 17981 17982 17983 17984 17985 17986 17987 17988 17989
246 17990 17991 17992 17993 17994 17995 17996 17997 17998 17999 18000 18001
247 18002 18003 18004 18005 18006 18007 18008 18009 18010 18011 18012 18013
248 18014 18015 18016 18017 18018 18019 18020 18021 18022 18023 18024 18025
249 18026 18027 18028 18029 18030 18031 18032 18033 18034 18035 18036 18037
250 18038 18039 18040 18041 18042 18043 18044 18045 18046 18047 18048 18049
251 18050 18051 18052 18053 18054 18055 18056 18057 18058 18059 18060 18061
252 18062 18063 18064 18065 18066 18067 18068 18069 18070 18071 18072 18073
253 18074 18075 18076 18077 18078 18079 18080 18081 18082 18083 18084 18085
254 18086 18087 18088 18089 18090 18091 18092 18093 18094 18095 18096 18097
255 18098 18099 18100 18101 18102 18103 18104 18105 18106 18107 18108 18109
256 18110 18111 18112 18113 18114 18115 18116 18117 18118 18119 18120 18121
257 18122 18123 18124 18125 18126 18127 18128 18129 18130 18131 18132 18133
258 18134 18135 18136 18137 18138 18139 18140 18141 18142 18143 18144 18145
259 18146 18147 18148 18149 18150 18151 18152 18153 18154 18155 18156 18157
260 18158 18159 18160 18161 18162 18163 18164 18165 18166 18167 18168 18169
261 18170 18171 18172 18173 18174 18175 18176 18177 18178 18179 18180 18181
262 18182 18183 18184 18185 18186 18187 18188 18189 18190 18191 18192 18193
263 18194 18195 18196 18197 18198 18199 18200 18201 18202 18203 18204 18205
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265 18218 18219 18220 18221 18222 18223 18224 18225 18226 18227 18228 18229
266 18230 18231 18232 18233 18234 18235 18236 18237 18238 18239 18240 18241
267 18242 18243 18244 18245 18246 18247 18248 18249 18250 18251 18252 18253
268 18254 18255 18256 18257 18258 18259 18260 18261 18262 18263 18264 18265
269 18266 18267 18268 18269 18270 18271 18272 18273 18274 18275 18276 18277
270 18278 18279 18280 18281 18282 18283 18284 18285 18286 18287 18288 18289
271 18290 18291 18292 18293 18294 18295 18296 18297 18298 18299 18300 18301

272 18302 18303 18304 18305 18306 18307 18308 18309 18310 18311 18312 18313
273 18314 18315 18316 18317 18318 18319 18320 18321 18322 18323 18324 18325
274 18326 18327 18328 18329 18330 18331 18332 18333 18334 18335 18336 18337
275 18338 18339 18340 18341 18342 18343 18344 18345 18346 18347 18348 18349
276 18350 18351 18352 18353 18354 18355 18356 18357 18358 18359 18360 18361
277 18362 18363 18364 18365 18366 18367 18368 18369 18370 18371 18372 18373
278 18374 18375 18376 18377 18378 18379 18380 18381 18382 18383 18384 18385
279 18386 18387 18388 18389 18390 18391 18392 18393 18394 18395 18396 18397
280 18398 18399 18400 18401 18402 18403 18404 18405 18406 18407 18408 18409
281 18410 18411 18412 18413 18414 18415 18416 18417 18418 18419 18420 18421
282 18422 18423 18424 18425 18426 18427 18428 18429 18430 18431 18432 18433
283 18434 18435 18436 18437 18438 18439 18440 18441 18442 18443 18444 18445
284 18446 18447 18448 18449 18450 18451 18452 18453 18454 18455 18456 18457
285 18458 18459 18460 18461 18462 18463 18464 18465 18466 18467 18468 18469
286 18470 18471 18472 18473 18474 18475 18476 18477 18478 18479 18480 18481
287 18482 18483 18484 18485 18486 18487 18488 18489 18490 18491 18492 18493
288 18494 18495 18496 18497 18498 18499 18500 18501 18502 18503 18504 18505
289 18506 18507 18508 18509 18510 18511 18512 18513 18514 18515 18516 18517
290 18518 18519 18520 18521 18522 18523 18524 18525 18526 18527 18528 18529
291 18530 18531 18532 18533 18534 18535 18536 18537 18538 18539 18540 18541
292 18542 18543 18544 18545 18546 18547 18548 18549 18550 18551 18552 18553
293 18554 18555 18556 18557 18558 18559 18560 18561 18562 18563 18564 18565
294 18566 18567 18568 18569 18570 18571 18572 18573 18574 18575 18576 18577
295 18578 18579 18580 18581 18582 18583 18584 18585 18586 18587 18588 18589
296 18590 18591 18592 18593 18594 18595 18596 18597 18598 18599 18600 18601
297 18602 18603 18604 18605 18606 18607 18608 18609 18610 18611 18612 18613
298 18614 18615 18616 18617 18618 18619 18620 18621 18622 18623 18624 18625
299 18626 18627 18628 18629 18630 18631 18632 18633 18634 18635 18636 18637
300 18638 18639 18640 18641 18642 18643 18644 18645 18646 18647 18648 18649
301 18650 18651 18652 18653 18654 18655 18656 18657 18658 18659 18660 18661
302 18662 18663 18664 18665 18666 18667 18668 18669 18670 18671 18672 18673
303 18674 18675 18676 18677 18678 18679 18680 18681 18682 18683 18684 18685
304 18686 18687 18688 18689 18690 18691 18692 18693 18694 18695 18696 18697
305 18698 18699 18700 18701 18702 18703 18704 18705 18706 18707 18708 18709
306 18710 18711 18712 18713 18714 18715 18716 18717 18718 18719 18720 18721
307 18722 18723 18724 18725 18726 18727 18728 18729 18730 18731 18732 18733
308 18734 18735 18736 18737 18738 18739 18740 18741 18742 18743 18744 18745
309 18746 18747 18748 18749 18750 18751 18752 18753 18754 18755 18756 18757
310 18758 18759 18760 18761 18762 18763 18764 18765 18766 18767 18768 18769
311 18770 18771 18772 18773 18774 18775 18776 18777 18778 18779 18780 18781
312 18782 18783 18784 18785 18786 18787 18788 18789 18790 18791 18792 18793
313 18794 18795 18796 18797 18798 18799 18800 18801 18802 18803 18804 18805
314 18806 18807 18808 18809 18810 18811 18812 18813 18814 18815 18816 18817
315 18818 18819 18820 18821 18822 18823 18824 18825 18826 18827 18828 18829
316 18830 18831 18832 18833 18834 18835 18836 18837 18838 18839 18840 18841
317 18842 18843 18844 18845 18846 18847 18848 18849 18850 18851 18852 18853

318 18854 18855 18856 18857 18858 18859 18860 18861 18862 18863 18864 18865
319 18866 18867 18868 18869 18870 18871 18872 18873 18874 18875 18876 18877
320 18878 18879 18880 18881 18882 18883 18884 18885 18886 18887 18888 18889
321 18890 18891 18892 18893 18894 18895 18896 18897 18898 18899 18900 18901
322 18902 18903 18904 18905 18906 18907 18908 18909 18910 18911 18912 18913
323 18914 18915 18916 18917 18918 18919 18920 18921 18922 18923 18924 18925
324 18926 18927 18928 18929 18930 18931 18932 18933 18934 18935 18936 18937
325 18938 18939 18940 18941 18942 18943 18944 18945 18946 18947 18948 18949
326 18950 18951 18952 18953 18954 18955 18956 18957 18958 18959 18960 18961
327 18962 18963 18964 18965 18966 18967 18968 18969 18970 18971 18972 18973
328 18974 18975 18976 18977 18978 18979 18980 18981 18982 18983 18984 18985
329 18986 18987 18988 18989 18990 18991 18992 18993 18994 18995 18996 18997
330 18998 18999 19000 19001 19002 19003 19004 19005 19006 19007 19008 19009
331 19010 19011 19012 19013 19014 19015 19016 19017 19018 19019 19020 19021
332 19022 19023 19024 19025 19026 19027 19028 19029 19030 19031 19032 19033
333 19034 19035 19036 19037 19038 19039 19040 19041 19042 19043 19044 19045
334 19046 19047 19048 19049 19050 19051 19052 19053 19054 19055 19056 19057
335 19058 19059 19060 19061 19062 19063 19064 19065 19066 19067 19068 19069
336 19070 19071 19072 19073 19074 19075 19076 19077 19078 19079 19080 19081
337 19082 19083 19084 19085 19086 19087 19088 19089 19090 19091 19092 19093
338 19094 19095 19096 19097 19098 19099 19100 19101 19102 19103 19104 19105
339 19106 19107 19108 19109 19110 19111 19112 19113 19114 19115 19116 19117
340 19118 19119 19120 19121 19122 19123 19124 19125 19126 19127 19128 19129
341 19130 19131 19132 19133 19134 19135 19136 19137 19138 19139 19140 19141
342 19142 19143 19144 19145 19146 19147 19148 19149 19150 19151 19152 19153
343 19154 19155 19156 19157 19158 19159 19160 19161 19162 19163 19164 19165
344 19166 19167 19168 19169 19170 19171 19172 19173 19174 19175 19176 19177
345 19178 19179 19180 19181 19182 19183 19184 19185 19186 19187 19188 19189
346 19190 19191 19192 19193 19194 19195 19196 19197 19198 19199 19200 19201
347 19202 19203 19204 19205 19206 19207 19208 19209 19210 19211 19212 19213
348 19214 19215 19216 19217 19218 19219 19220 19221 19222 19223 19224 19225
349 19226 19227 19228 19229 19230 19231 19232 19233 19234 19235 19236 19237
350 19238 19239 19240 19241 19242 19243 19244 19245 19246 19247 19248 19249
351 19250 19251 19252 19253 19254 19255 19256 19257 19258 19259 19260 19261
352 19262 19263 19264 19265 19266 19267 19268 19269 19270 19271 19272 19273
353 19274 19275 19276 19277 19278 19279 19280 19281 19282 19283 19284 19285
354 19286 19287 19288 19289 19290 19291 19292 19293 19294 19295 19296 19297
355 19298 19299 19300 19301 19302 19303 19304 19305 19306 19307 19308 19309
356 19310 19311 19312 19313 19314 19315 19316 19317 19318 19319 19320 19321
357 19322 19323 19324 19325 19326 19327 19328 19329 19330 19331 19332 19333
358 19334 19335 19336 19337 19338 19339 19340 19341 19342 19343 19344 19345
359 19346 19347 19348 19349 19350 19351 19352 19353 19354 19355 19356 19357
360 19358 19359 19360 19361 19362 19363 19364 19365 19366 19367 19368 19369
361 19370 19371 19372 19373 19374 19375 19376 19377 19378 19379 19380 19381
362 19382 19383 19384 19385 19386 19387 19388 19389 19390 19391 19392 19393
363 19394 19395 19396 19397 19398 19399 19400 19401 19402 19403 19404 19405

364 19406 19407 19408 19409 19410 19411 19412 19413 19414 19415 19416 19417
365 19418 19419 19420 19421 19422 19423 19424 19425 19426 19427 19428 19429
366 19430 19431 19432 19433 19434 19435 19436 19437 19438 19439 19440 19441
367 19442 19443 19444 19445 19446 19447 19448 19449 19450 19451 19452 19453
368 19454 19455 19456 19457 19458 19459 19460 19461 19462 19463 19464 19465
369 19466 19467 19468 19469 19470 19471 19472 19473 19474 19475 19476 19477
370 19478 19479 19480 19481 19482 19483 19484 19485 19486 19487 19488 19489
371 19490 19491 19492 19493 19494 19495 19496 19497 19498 19499 19500 19501
372 19502 19503 19504 19505 19506 19507 19508 19509 19510 19511 19512 19513
373 19514 19515 19516 19517 19518 19519 19520 19521 19522 19523 19524 19525
374 19526 19527 19528 19529 19530 19531 19532 19533 19534 19535 19536 19537
375 19538 19539 19540 19541 19542 19543 19544 19545 19546 19547 19548 19549
376 19550 19551 19552 19553 19554 19555 19556 19557 19558 19559 19560 19561
377 19562 19563 19564 19565 19566 19567 19568 19569 19570 19571 19572 19573
378 19574 19575 19576 19577 19578 19579 19580 19581 19582 19583 19584 19585
379 19586 19587 19588 19589 19590 19591 19592 19593 19594 19595 19596 19597
380 19598 19599 19600 19601 19602 19603 19604 19605 19606 19607 19608 19609
381 19610 19611 19612 19613 19614 19615 19616 19617 19618 19619 19620 19621
382 19622 19623 19624 19625 19626 19627 19628 19629 19630 19631 19632 19633
383 19634 19635 19636 19637 19638 19639 19640 19641 19642 19643 19644 19645
384 19646 19647 19648 19649 19650 19651 19652 19653 19654 19655 19656 19657
385 19658 19659 19660 19661 19662 19663 19664 19665 19666 19667 19668 19669
386 19670 19671 19672 19673 19674 19675 19676 19677 19678 19679 19680 19681
387 19682 19683 19684 19685 19686 19687 19688 19689 19690 19691 19692 19693
388 19694 19695 19696 19697 19698 19699 19700 19701 19702 19703 19704 19705
389 19706 19707 19708 19709 19710 19711 19712 19713 19714 19715 19716 19717
390 19718 19719 19720 19721 19722 19723 19724 19725 19726 19727 19728 19729
391 19730 19731 19732 19733 19734 19735 19736 19737 19738 19739 19740 19741
392 19742 19743 19744 19745 19746 19747 19748 19749 19750 19751 19752 19753
393 19754 19755 19756 19757 19758 19759 19760 19761 19762 19763 19764 19765
394 19766 19767 19768 19769 19770 19771 19772 19773 19774 19775 19776 19777
395 19778 19779 19780 19781 19782 19783 19784 19785 19786 19787 19788 19789
396 19790 19791 19792 19793 19794 19795 19796 19797 19798 19799 19800 19801
397 19802 19803 19804 19805 19806 19807 19808 19809 19810 19811 19812 19813
398 19814 19815 19816 19817 19818 19819 19820 19821 19822 19823 19824 19825
399 19826 19827 19828 19829 19830 19831 19832 19833 19834 19835 19836 19837
400 19838 19839 19840 19841 19842 19843 19844 19845 19846 19847 19848 19849


Cir. int. auxiliary Operation Circul
Target position Dwell Sub. Axis Helic Control
Step point speed M code ar int.
time setting al int. word
1 19850 19851 19852 19853 19854 19855 19856 19857 19858 19859 19860 19861
2 19862 19863 19864 19865 19866 19867 19868 19869 19870 19871 19872 19873
3 19874 19875 19876 19877 19878 19879 19880 19881 19882 19883 19884 19885
4 19886 19887 19888 19889 19890 19891 19892 19893 19894 19895 19896 19897
5 19898 19899 19900 19901 19902 19903 19904 19905 19906 19907 19908 19909
6 19910 19911 19912 19913 19914 19915 19916 19917 19918 19919 19920 19921
7 19922 19923 19924 19925 19926 19927 19928 19929 19930 19931 19932 19933
8 19934 19935 19936 19937 19938 19939 19940 19941 19942 19943 19944 19945
9 19946 19947 19948 19949 19950 19951 19952 19953 19954 19955 19956 19957
10 19958 19959 19960 19961 19962 19963 19964 19965 19966 19967 19968 19969
11 19970 19971 19972 19973 19974 19975 19976 19977 19978 19979 19980 19981
12 19982 19983 19984 19985 19986 19987 19988 19989 19990 19991 19992 19993
13 19994 19995 19996 19997 19998 19999 20000 20001 20002 20003 20004 20005
14 20006 20007 20008 20009 20010 20011 20012 20013 20014 20015 20016 20017
15 20018 20019 20020 20021 20022 20023 20024 20025 20026 20027 20028 20029
16 20030 20031 20032 20033 20034 20035 20036 20037 20038 20039 20040 20041
17 20042 20043 20044 20045 20046 20047 20048 20049 20050 20051 20052 20053
18 20054 20055 20056 20057 20058 20059 20060 20061 20062 20063 20064 20065
19 20066 20067 20068 20069 20070 20071 20072 20073 20074 20075 20076 20077
20 20078 20079 20080 20081 20082 20083 20084 20085 20086 20087 20088 20089
21 20090 20091 20092 20093 20094 20095 20096 20097 20098 20099 20100 20101
22 20102 20103 20104 20105 20106 20107 20108 20109 20110 20111 20112 20113
23 20114 20115 20116 20117 20118 20119 20120 20121 20122 20123 20124 20125
24 20126 20127 20128 20129 20130 20131 20132 20133 20134 20135 20136 20137
25 20138 20139 20140 20141 20142 20143 20144 20145 20146 20147 20148 20149
26 20150 20151 20152 20153 20154 20155 20156 20157 20158 20159 20160 20161
27 20162 20163 20164 20165 20166 20167 20168 20169 20170 20171 20172 20173
28 20174 20175 20176 20177 20178 20179 20180 20181 20182 20183 20184 20185
29 20186 20187 20188 20189 20190 20191 20192 20193 20194 20195 20196 20197
30 20198 20199 20200 20201 20202 20203 20204 20205 20206 20207 20208 20209
31 20210 20211 20212 20213 20214 20215 20216 20217 20218 20219 20220 20221
32 20222 20223 20224 20225 20226 20227 20228 20229 20230 20231 20232 20233
33 20234 20235 20236 20237 20238 20239 20240 20241 20242 20243 20244 20245
34 20246 20247 20248 20249 20250 20251 20252 20253 20254 20255 20256 20257
35 20258 20259 20260 20261 20262 20263 20264 20265 20266 20267 20268 20269
36 20270 20271 20272 20273 20274 20275 20276 20277 20278 20279 20280 20281
37 20282 20283 20284 20285 20286 20287 20288 20289 20290 20291 20292 20293
38 20294 20295 20296 20297 20298 20299 20300 20301 20302 20303 20304 20305
39 20306 20307 20308 20309 20310 20311 20312 20313 20314 20315 20316 20317
40 20318 20319 20320 20321 20322 20323 20324 20325 20326 20327 20328 20329
41 20330 20331 20332 20333 20334 20335 20336 20337 20338 20339 20340 20341

42 20342 20343 20344 20345 20346 20347 20348 20349 20350 20351 20352 20353
43 20354 20355 20356 20357 20358 20359 20360 20361 20362 20363 20364 20365
44 20366 20367 20368 20369 20370 20371 20372 20373 20374 20375 20376 20377
45 20378 20379 20380 20381 20382 20383 20384 20385 20386 20387 20388 20389
46 20390 20391 20392 20393 20394 20395 20396 20397 20398 20399 20400 20401
47 20402 20403 20404 20405 20406 20407 20408 20409 20410 20411 20412 20413
48 20414 20415 20416 20417 20418 20419 20420 20421 20422 20423 20424 20425
49 20426 20427 20428 20429 20430 20431 20432 20433 20434 20435 20436 20437
50 20438 20439 20440 20441 20442 20443 20444 20445 20446 20447 20448 20449
51 20450 20451 20452 20453 20454 20455 20456 20457 20458 20459 20460 20461
52 20462 20463 20464 20465 20466 20467 20468 20469 20470 20471 20472 20473
53 20474 20475 20476 20477 20478 20479 20480 20481 20482 20483 20484 20485
54 20486 20487 20488 20489 20490 20491 20492 20493 20494 20495 20496 20497
55 20498 20499 20500 20501 20502 20503 20504 20505 20506 20507 20508 20509
56 20510 20511 20512 20513 20514 20515 20516 20517 20518 20519 20520 20521
57 20522 20523 20524 20525 20526 20527 20528 20529 20530 20531 20532 20533
58 20534 20535 20536 20537 20538 20539 20540 20541 20542 20543 20544 20545
59 20546 20547 20548 20549 20550 20551 20552 20553 20554 20555 20556 20557
60 20558 20559 20560 20561 20562 20563 20564 20565 20566 20567 20568 20569
61 20570 20571 20572 20573 20574 20575 20576 20577 20578 20579 20580 20581
62 20582 20583 20584 20585 20586 20587 20588 20589 20590 20591 20592 20593
63 20594 20595 20596 20597 20598 20599 20600 20601 20602 20603 20604 20605
64 20606 20607 20608 20609 20610 20611 20612 20613 20614 20615 20616 20617
65 20618 20619 20620 20621 20622 20623 20624 20625 20626 20627 20628 20629
66 20630 20631 20632 20633 20634 20635 20636 20637 20638 20639 20640 20641
67 20642 20643 20644 20645 20646 20647 20648 20649 20650 20651 20652 20653
68 20654 20655 20656 20657 20658 20659 20660 20661 20662 20663 20664 20665
69 20666 20667 20668 20669 20670 20671 20672 20673 20674 20675 20676 20677
70 20678 20679 20680 20681 20682 20683 20684 20685 20686 20687 20688 20689
71 20690 20691 20692 20693 20694 20695 20696 20697 20698 20699 20700 20701
72 20702 20703 20704 20705 20706 20707 20708 20709 20710 20711 20712 20713
73 20714 20715 20716 20717 20718 20719 20720 20721 20722 20723 20724 20725
74 20726 20727 20728 20729 20730 20731 20732 20733 20734 20735 20736 20737
75 20738 20739 20740 20741 20742 20743 20744 20745 20746 20747 20748 20749
76 20750 20751 20752 20753 20754 20755 20756 20757 20758 20759 20760 20761
77 20762 20763 20764 20765 20766 20767 20768 20769 20770 20771 20772 20773
78 20774 20775 20776 20777 20778 20779 20780 20781 20782 20783 20784 20785
79 20786 20787 20788 20789 20790 20791 20792 20793 20794 20795 20796 20797
80 20798 20799 20800 20801 20802 20803 20804 20805 20806 20807 20808 20809
81 20810 20811 20812 20813 20814 20815 20816 20817 20818 20819 20820 20821
82 20822 20823 20824 20825 20826 20827 20828 20829 20830 20831 20832 20833
83 20834 20835 20836 20837 20838 20839 20840 20841 20842 20843 20844 20845
84 20846 20847 20848 20849 20850 20851 20852 20853 20854 20855 20856 20857
85 20858 20859 20860 20861 20862 20863 20864 20865 20866 20867 20868 20869
86 20870 20871 20872 20873 20874 20875 20876 20877 20878 20879 20880 20881
87 20882 20883 20884 20885 20886 20887 20888 20889 20890 20891 20892 20893

88 20894 20895 20896 20897 20898 20899 20900 20901 20902 20903 20904 20905
89 20906 20907 20908 20909 20910 20911 20912 20913 20914 20915 20916 20917
90 20918 20919 20920 20921 20922 20923 20924 20925 20926 20927 20928 20929
91 20930 20931 20932 20933 20934 20935 20936 20937 20938 20939 20940 20941
92 20942 20943 20944 20945 20946 20947 20948 20949 20950 20951 20952 20953
93 20954 20955 20956 20957 20958 20959 20960 20961 20962 20963 20964 20965
94 20966 20967 20968 20969 20970 20971 20972 20973 20974 20975 20976 20977
95 20978 20979 20980 20981 20982 20983 20984 20985 20986 20987 20988 20989
96 20990 20991 20992 20993 20994 20995 20996 20997 20998 20999 21000 21001
97 21002 21003 21004 21005 21006 21007 21008 21009 21010 21011 21012 21013
98 21014 21015 21016 21017 21018 21019 21020 21021 21022 21023 21024 21025
99 21026 21027 21028 21029 21030 21031 21032 21033 21034 21035 21036 21037
100 21038 21039 21040 21041 21042 21043 21044 21045 21046 21047 21048 21049
101 21050 21051 21052 21053 21054 21055 21056 21057 21058 21059 21060 21061
102 21062 21063 21064 21065 21066 21067 21068 21069 21070 21071 21072 21073
103 21074 21075 21076 21077 21078 21079 21080 21081 21082 21083 21084 21085
104 21086 21087 21088 21089 21090 21091 21092 21093 21094 21095 21096 21097
105 21098 21099 21100 21101 21102 21103 21104 21105 21106 21107 21108 21109
106 21110 21111 21112 21113 21114 21115 21116 21117 21118 21119 21120 21121
107 21122 21123 21124 21125 21126 21127 21128 21129 21130 21131 21132 21133
108 21134 21135 21136 21137 21138 21139 21140 21141 21142 21143 21144 21145
109 21146 21147 21148 21149 21150 21151 21152 21153 21154 21155 21156 21157
110 21158 21159 21160 21161 21162 21163 21164 21165 21166 21167 21168 21169
111 21170 21171 21172 21173 21174 21175 21176 21177 21178 21179 21180 21181
112 21182 21183 21184 21185 21186 21187 21188 21189 21190 21191 21192 21193
113 21194 21195 21196 21197 21198 21199 21200 21201 21202 21203 21204 21205
114 21206 21207 21208 21209 21210 21211 21212 21213 21214 21215 21216 21217
115 21218 21219 21220 21221 21222 21223 21224 21225 21226 21227 21228 21229
116 21230 21231 21232 21233 21234 21235 21236 21237 21238 21239 21240 21241
117 21242 21243 21244 21245 21246 21247 21248 21249 21250 21251 21252 21253
118 21254 21255 21256 21257 21258 21259 21260 21261 21262 21263 21264 21265
119 21266 21267 21268 21269 21270 21271 21272 21273 21274 21275 21276 21277
120 21278 21279 21280 21281 21282 21283 21284 21285 21286 21287 21288 21289
121 21290 21291 21292 21293 21294 21295 21296 21297 21298 21299 21300 21301
122 21302 21303 21304 21305 21306 21307 21308 21309 21310 21311 21312 21313
123 21314 21315 21316 21317 21318 21319 21320 21321 21322 21323 21324 21325
124 21326 21327 21328 21329 21330 21331 21332 21333 21334 21335 21336 21337
125 21338 21339 21340 21341 21342 21343 21344 21345 21346 21347 21348 21349
126 21350 21351 21352 21353 21354 21355 21356 21357 21358 21359 21360 21361
127 21362 21363 21364 21365 21366 21367 21368 21369 21370 21371 21372 21373
128 21374 21375 21376 21377 21378 21379 21380 21381 21382 21383 21384 21385
129 21386 21387 21388 21389 21390 21391 21392 21393 21394 21395 21396 21397
130 21398 21399 21400 21401 21402 21403 21404 21405 21406 21407 21408 21409
131 21410 21411 21412 21413 21414 21415 21416 21417 21418 21419 21420 21421
132 21422 21423 21424 21425 21426 21427 21428 21429 21430 21431 21432 21433
133 21434 21435 21436 21437 21438 21439 21440 21441 21442 21443 21444 21445

134 21446 21447 21448 21449 21450 21451 21452 21453 21454 21455 21456 21457
135 21458 21459 21460 21461 21462 21463 21464 21465 21466 21467 21468 21469
136 21470 21471 21472 21473 21474 21475 21476 21477 21478 21479 21480 21481
137 21482 21483 21484 21485 21486 21487 21488 21489 21490 21491 21492 21493
138 21494 21495 21496 21497 21498 21499 21500 21501 21502 21503 21504 21505
139 21506 21507 21508 21509 21510 21511 21512 21513 21514 21515 21516 21517
140 21518 21519 21520 21521 21522 21523 21524 21525 21526 21527 21528 21529
141 21530 21531 21532 21533 21534 21535 21536 21537 21538 21539 21540 21541
142 21542 21543 21544 21545 21546 21547 21548 21549 21550 21551 21552 21553
143 21554 21555 21556 21557 21558 21559 21560 21561 21562 21563 21564 21565
144 21566 21567 21568 21569 21570 21571 21572 21573 21574 21575 21576 21577
145 21578 21579 21580 21581 21582 21583 21584 21585 21586 21587 21588 21589
146 21590 21591 21592 21593 21594 21595 21596 21597 21598 21599 21600 21601
147 21602 21603 21604 21605 21606 21607 21608 21609 21610 21611 21612 21613
148 21614 21615 21616 21617 21618 21619 21620 21621 21622 21623 21624 21625
149 21626 21627 21628 21629 21630 21631 21632 21633 21634 21635 21636 21637
150 21638 21639 21640 21641 21642 21643 21644 21645 21646 21647 21648 21649
151 21650 21651 21652 21653 21654 21655 21656 21657 21658 21659 21660 21661
152 21662 21663 21664 21665 21666 21667 21668 21669 21670 21671 21672 21673
153 21674 21675 21676 21677 21678 21679 21680 21681 21682 21683 21684 21685
154 21686 21687 21688 21689 21690 21691 21692 21693 21694 21695 21696 21697
155 21698 21699 21700 21701 21702 21703 21704 21705 21706 21707 21708 21709
156 21710 21711 21712 21713 21714 21715 21716 21717 21718 21719 21720 21721
157 21722 21723 21724 21725 21726 21727 21728 21729 21730 21731 21732 21733
158 21734 21735 21736 21737 21738 21739 21740 21741 21742 21743 21744 21745
159 21746 21747 21748 21749 21750 21751 21752 21753 21754 21755 21756 21757
160 21758 21759 21760 21761 21762 21763 21764 21765 21766 21767 21768 21769
161 21770 21771 21772 21773 21774 21775 21776 21777 21778 21779 21780 21781
162 21782 21783 21784 21785 21786 21787 21788 21789 21790 21791 21792 21793
163 21794 21795 21796 21797 21798 21799 21800 21801 21802 21803 21804 21805
164 21806 21807 21808 21809 21810 21811 21812 21813 21814 21815 21816 21817
165 21818 21819 21820 21821 21822 21823 21824 21825 21826 21827 21828 21829
166 21830 21831 21832 21833 21834 21835 21836 21837 21838 21839 21840 21841
167 21842 21843 21844 21845 21846 21847 21848 21849 21850 21851 21852 21853
168 21854 21855 21856 21857 21858 21859 21860 21861 21862 21863 21864 21865
169 21866 21867 21868 21869 21870 21871 21872 21873 21874 21875 21876 21877
170 21878 21879 21880 21881 21882 21883 21884 21885 21886 21887 21888 21889
171 21890 21891 21892 21893 21894 21895 21896 21897 21898 21899 21900 21901
172 21902 21903 21904 21905 21906 21907 21908 21909 21910 21911 21912 21913
173 21914 21915 21916 21917 21918 21919 21920 21921 21922 21923 21924 21925
174 21926 21927 21928 21929 21930 21931 21932 21933 21934 21935 21936 21937
175 21938 21939 21940 21941 21942 21943 21944 21945 21946 21947 21948 21949
176 21950 21951 21952 21953 21954 21955 21956 21957 21958 21959 21960 21961
177 21962 21963 21964 21965 21966 21967 21968 21969 21970 21971 21972 21973
178 21974 21975 21976 21977 21978 21979 21980 21981 21982 21983 21984 21985
179 21986 21987 21988 21989 21990 21991 21992 21993 21994 21995 21996 21997

180 21998 21999 22000 22001 22002 22003 22004 22005 22006 22007 22008 22009
181 22010 22011 22012 22013 22014 22015 22016 22017 22018 22019 22020 22021
182 22022 22023 22024 22025 22026 22027 22028 22029 22030 22031 22032 22033
183 22034 22035 22036 22037 22038 22039 22040 22041 22042 22043 22044 22045
184 22046 22047 22048 22049 22050 22051 22052 22053 22054 22055 22056 22057
185 22058 22059 22060 22061 22062 22063 22064 22065 22066 22067 22068 22069
186 22070 22071 22072 22073 22074 22075 22076 22077 22078 22079 22080 22081
187 22082 22083 22084 22085 22086 22087 22088 22089 22090 22091 22092 22093
188 22094 22095 22096 22097 22098 22099 22100 22101 22102 22103 22104 22105
189 22106 22107 22108 22109 22110 22111 22112 22113 22114 22115 22116 22117
190 22118 22119 22120 22121 22122 22123 22124 22125 22126 22127 22128 22129
191 22130 22131 22132 22133 22134 22135 22136 22137 22138 22139 22140 22141
192 22142 22143 22144 22145 22146 22147 22148 22149 22150 22151 22152 22153
193 22154 22155 22156 22157 22158 22159 22160 22161 22162 22163 22164 22165
194 22166 22167 22168 22169 22170 22171 22172 22173 22174 22175 22176 22177
195 22178 22179 22180 22181 22182 22183 22184 22185 22186 22187 22188 22189
196 22190 22191 22192 22193 22194 22195 22196 22197 22198 22199 22200 22201
197 22202 22203 22204 22205 22206 22207 22208 22209 22210 22211 22212 22213
198 22214 22215 22216 22217 22218 22219 22220 22221 22222 22223 22224 22225
199 22226 22227 22228 22229 22230 22231 22232 22233 22234 22235 22236 22237
200 22238 22239 22240 22241 22242 22243 22244 22245 22246 22247 22248 22249
201 22250 22251 22252 22253 22254 22255 22256 22257 22258 22259 22260 22261
202 22262 22263 22264 22265 22266 22267 22268 22269 22270 22271 22272 22273
203 22274 22275 22276 22277 22278 22279 22280 22281 22282 22283 22284 22285
204 22286 22287 22288 22289 22290 22291 22292 22293 22294 22295 22296 22297
205 22298 22299 22300 22301 22302 22303 22304 22305 22306 22307 22308 22309
206 22310 22311 22312 22313 22314 22315 22316 22317 22318 22319 22320 22321
207 22322 22323 22324 22325 22326 22327 22328 22329 22330 22331 22332 22333
208 22334 22335 22336 22337 22338 22339 22340 22341 22342 22343 22344 22345
209 22346 22347 22348 22349 22350 22351 22352 22353 22354 22355 22356 22357
210 22358 22359 22360 22361 22362 22363 22364 22365 22366 22367 22368 22369
211 22370 22371 22372 22373 22374 22375 22376 22377 22378 22379 22380 22381
212 22382 22383 22384 22385 22386 22387 22388 22389 22390 22391 22392 22393
213 22394 22395 22396 22397 22398 22399 22400 22401 22402 22403 22404 22405
214 22406 22407 22408 22409 22410 22411 22412 22413 22414 22415 22416 22417
215 22418 22419 22420 22421 22422 22423 22424 22425 22426 22427 22428 22429
216 22430 22431 22432 22433 22434 22435 22436 22437 22438 22439 22440 22441
217 22442 22443 22444 22445 22446 22447 22448 22449 22450 22451 22452 22453
218 22454 22455 22456 22457 22458 22459 22460 22461 22462 22463 22464 22465
219 22466 22467 22468 22469 22470 22471 22472 22473 22474 22475 22476 22477
220 22478 22479 22480 22481 22482 22483 22484 22485 22486 22487 22488 22489
221 22490 22491 22492 22493 22494 22495 22496 22497 22498 22499 22500 22501
222 22502 22503 22504 22505 22506 22507 22508 22509 22510 22511 22512 22513
223 22514 22515 22516 22517 22518 22519 22520 22521 22522 22523 22524 22525
224 22526 22527 22528 22529 22530 22531 22532 22533 22534 22535 22536 22537
225 22538 22539 22540 22541 22542 22543 22544 22545 22546 22547 22548 22549

226 22550 22551 22552 22553 22554 22555 22556 22557 22558 22559 22560 22561
227 22562 22563 22564 22565 22566 22567 22568 22569 22570 22571 22572 22573
228 22574 22575 22576 22577 22578 22579 22580 22581 22582 22583 22584 22585
229 22586 22587 22588 22589 22590 22591 22592 22593 22594 22595 22596 22597
230 22598 22599 22600 22601 22602 22603 22604 22605 22606 22607 22608 22609
231 22610 22611 22612 22613 22614 22615 22616 22617 22618 22619 22620 22621
232 22622 22623 22624 22625 22626 22627 22628 22629 22630 22631 22632 22633
233 22634 22635 22636 22637 22638 22639 22640 22641 22642 22643 22644 22645
234 22646 22647 22648 22649 22650 22651 22652 22653 22654 22655 22656 22657
235 22658 22659 22660 22661 22662 22663 22664 22665 22666 22667 22668 22669
236 22670 22671 22672 22673 22674 22675 22676 22677 22678 22679 22680 22681
237 22682 22683 22684 22685 22686 22687 22688 22689 22690 22691 22692 22693
238 22694 22695 22696 22697 22698 22699 22700 22701 22702 22703 22704 22705
239 22706 22707 22708 22709 22710 22711 22712 22713 22714 22715 22716 22717
240 22718 22719 22720 22721 22722 22723 22724 22725 22726 22727 22728 22729
241 22730 22731 22732 22733 22734 22735 22736 22737 22738 22739 22740 22741
242 22742 22743 22744 22745 22746 22747 22748 22749 22750 22751 22752 22753
243 22754 22755 22756 22757 22758 22759 22760 22761 22762 22763 22764 22765
244 22766 22767 22768 22769 22770 22771 22772 22773 22774 22775 22776 22777
245 22778 22779 22780 22781 22782 22783 22784 22785 22786 22787 22788 22789
246 22790 22791 22792 22793 22794 22795 22796 22797 22798 22799 22800 22801
247 22802 22803 22804 22805 22806 22807 22808 22809 22810 22811 22812 22813
248 22814 22815 22816 22817 22818 22819 22820 22821 22822 22823 22824 22825
249 22826 22827 22828 22829 22830 22831 22832 22833 22834 22835 22836 22837
250 22838 22839 22840 22841 22842 22843 22844 22845 22846 22847 22848 22849
251 22850 22851 22852 22853 22854 22855 22856 22857 22858 22859 22860 22861
252 22862 22863 22864 22865 22866 22867 22868 22869 22870 22871 22872 22873
253 22874 22875 22876 22877 22878 22879 22880 22881 22882 22883 22884 22885
254 22886 22887 22888 22889 22890 22891 22892 22893 22894 22895 22896 22897
255 22898 22899 22900 22901 22902 22903 22904 22905 22906 22907 22908 22909
256 22910 22911 22912 22913 22914 22915 22916 22917 22918 22919 22920 22921
257 22922 22923 22924 22925 22926 22927 22928 22929 22930 22931 22932 22933
258 22934 22935 22936 22937 22938 22939 22940 22941 22942 22943 22944 22945
259 22946 22947 22948 22949 22950 22951 22952 22953 22954 22955 22956 22957
260 22958 22959 22960 22961 22962 22963 22964 22965 22966 22967 22968 22969
261 22970 22971 22972 22973 22974 22975 22976 22977 22978 22979 22980 22981
262 22982 22983 22984 22985 22986 22987 22988 22989 22990 22991 22992 22993
263 22994 22995 22996 22997 22998 22999 23000 23001 23002 23003 23004 23005
264 23006 23007 23008 23009 23010 23011 23012 23013 23014 23015 23016 23017
265 23018 23019 23020 23021 23022 23023 23024 23025 23026 23027 23028 23029
266 23030 23031 23032 23033 23034 23035 23036 23037 23038 23039 23040 23041
267 23042 23043 23044 23045 23046 23047 23048 23049 23050 23051 23052 23053
268 23054 23055 23056 23057 23058 23059 23060 23061 23062 23063 23064 23065
269 23066 23067 23068 23069 23070 23071 23072 23073 23074 23075 23076 23077
270 23078 23079 23080 23081 23082 23083 23084 23085 23086 23087 23088 23089
271 23090 23091 23092 23093 23094 23095 23096 23097 23098 23099 23100 23101

272 23102 23103 23104 23105 23106 23107 23108 23109 23110 23111 23112 23113
273 23114 23115 23116 23117 23118 23119 23120 23121 23122 23123 23124 23125
274 23126 23127 23128 23129 23130 23131 23132 23133 23134 23135 23136 23137
275 23138 23139 23140 23141 23142 23143 23144 23145 23146 23147 23148 23149
276 23150 23151 23152 23153 23154 23155 23156 23157 23158 23159 23160 23161
277 23162 23163 23164 23165 23166 23167 23168 23169 23170 23171 23172 23173
278 23174 23175 23176 23177 23178 23179 23180 23181 23182 23183 23184 23185
279 23186 23187 23188 23189 23190 23191 23192 23193 23194 23195 23196 23197
280 23198 23199 23200 23201 23202 23203 23204 23205 23206 23207 23208 23209
281 23210 23211 23212 23213 23214 23215 23216 23217 23218 23219 23220 23221
282 23222 23223 23224 23225 23226 23227 23228 23229 23230 23231 23232 23233
283 23234 23235 23236 23237 23238 23239 23240 23241 23242 23243 23244 23245
284 23246 23247 23248 23249 23250 23251 23252 23253 23254 23255 23256 23257
285 23258 23259 23260 23261 23262 23263 23264 23265 23266 23267 23268 23269
286 23270 23271 23272 23273 23274 23275 23276 23277 23278 23279 23280 23281
287 23282 23283 23284 23285 23286 23287 23288 23289 23290 23291 23292 23293
288 23294 23295 23296 23297 23298 23299 23300 23301 23302 23303 23304 23305
289 23306 23307 23308 23309 23310 23311 23312 23313 23314 23315 23316 23317
290 23318 23319 23320 23321 23322 23323 23324 23325 23326 23327 23328 23329
291 23330 23331 23332 23333 23334 23335 23336 23337 23338 23339 23340 23341
292 23342 23343 23344 23345 23346 23347 23348 23349 23350 23351 23352 23353
293 23354 23355 23356 23357 23358 23359 23360 23361 23362 23363 23364 23365
294 23366 23367 23368 23369 23370 23371 23372 23373 23374 23375 23376 23377
295 23378 23379 23380 23381 23382 23383 23384 23385 23386 23387 23388 23389
296 23390 23391 23392 23393 23394 23395 23396 23397 23398 23399 23400 23401
297 23402 23403 23404 23405 23406 23407 23408 23409 23410 23411 23412 23413
298 23414 23415 23416 23417 23418 23419 23420 23421 23422 23423 23424 23425
299 23426 23427 23428 23429 23430 23431 23432 23433 23434 23435 23436 23437
300 23438 23439 23440 23441 23442 23443 23444 23445 23446 23447 23448 23449
301 23450 23451 23452 23453 23454 23455 23456 23457 23458 23459 23460 23461
302 23462 23463 23464 23465 23466 23467 23468 23469 23470 23471 23472 23473
303 23474 23475 23476 23477 23478 23479 23480 23481 23482 23483 23484 23485
304 23486 23487 23488 23489 23490 23491 23492 23493 23494 23495 23496 23497
305 23498 23499 23500 23501 23502 23503 23504 23505 23506 23507 23508 23509
306 23510 23511 23512 23513 23514 23515 23516 23517 23518 23519 23520 23521
307 23522 23523 23524 23525 23526 23527 23528 23529 23530 23531 23532 23533
308 23534 23535 23536 23537 23538 23539 23540 23541 23542 23543 23544 23545
309 23546 23547 23548 23549 23550 23551 23552 23553 23554 23555 23556 23557
310 23558 23559 23560 23561 23562 23563 23564 23565 23566 23567 23568 23569
311 23570 23571 23572 23573 23574 23575 23576 23577 23578 23579 23580 23581
312 23582 23583 23584 23585 23586 23587 23588 23589 23590 23591 23592 23593
313 23594 23595 23596 23597 23598 23599 23600 23601 23602 23603 23604 23605
314 23606 23607 23608 23609 23610 23611 23612 23613 23614 23615 23616 23617
315 23618 23619 23620 23621 23622 23623 23624 23625 23626 23627 23628 23629
316 23630 23631 23632 23633 23634 23635 23636 23637 23638 23639 23640 23641
317 23642 23643 23644 23645 23646 23647 23648 23649 23650 23651 23652 23653

318 23654 23655 23656 23657 23658 23659 23660 23661 23662 23663 23664 23665
319 23666 23667 23668 23669 23670 23671 23672 23673 23674 23675 23676 23677
320 23678 23679 23680 23681 23682 23683 23684 23685 23686 23687 23688 23689
321 23690 23691 23692 23693 23694 23695 23696 23697 23698 23699 23700 23701
322 23702 23703 23704 23705 23706 23707 23708 23709 23710 23711 23712 23713
323 23714 23715 23716 23717 23718 23719 23720 23721 23722 23723 23724 23725
324 23726 23727 23728 23729 23730 23731 23732 23733 23734 23735 23736 23737
325 23738 23739 23740 23741 23742 23743 23744 23745 23746 23747 23748 23749
326 23750 23751 23752 23753 23754 23755 23756 23757 23758 23759 23760 23761
327 23762 23763 23764 23765 23766 23767 23768 23769 23770 23771 23772 23773
328 23774 23775 23776 23777 23778 23779 23780 23781 23782 23783 23784 23785
329 23786 23787 23788 23789 23790 23791 23792 23793 23794 23795 23796 23797
330 23798 23799 23800 23801 23802 23803 23804 23805 23806 23807 23808 23809
331 23810 23811 23812 23813 23814 23815 23816 23817 23818 23819 23820 23821
332 23822 23823 23824 23825 23826 23827 23828 23829 23830 23831 23832 23833
333 23834 23835 23836 23837 23838 23839 23840 23841 23842 23843 23844 23845
334 23846 23847 23848 23849 23850 23851 23852 23853 23854 23855 23856 23857
335 23858 23859 23860 23861 23862 23863 23864 23865 23866 23867 23868 23869
336 23870 23871 23872 23873 23874 23875 23876 23877 23878 23879 23880 23881
337 23882 23883 23884 23885 23886 23887 23888 23889 23890 23891 23892 23893
338 23894 23895 23896 23897 23898 23899 23900 23901 23902 23903 23904 23905
339 23906 23907 23908 23909 23910 23911 23912 23913 23914 23915 23916 23917
340 23918 23919 23920 23921 23922 23923 23924 23925 23926 23927 23928 23929
341 23930 23931 23932 23933 23934 23935 23936 23937 23938 23939 23940 23941
342 23942 23943 23944 23945 23946 23947 23948 23949 23950 23951 23952 23953
343 23954 23955 23956 23957 23958 23959 23960 23961 23962 23963 23964 23965
344 23966 23967 23968 23969 23970 23971 23972 23973 23974 23975 23976 23977
345 23978 23979 23980 23981 23982 23983 23984 23985 23986 23987 23988 23989
346 23990 23991 23992 23993 23994 23995 23996 23997 23998 23999 24000 24001
347 24002 24003 24004 24005 24006 24007 24008 24009 24010 24011 24012 24013
348 24014 24015 24016 24017 24018 24019 24020 24021 24022 24023 24024 24025
349 24026 24027 24028 24029 24030 24031 24032 24033 24034 24035 24036 24037
350 24038 24039 24040 24041 24042 24043 24044 24045 24046 24047 24048 24049
351 24050 24051 24052 24053 24054 24055 24056 24057 24058 24059 24060 24061
352 24062 24063 24064 24065 24066 24067 24068 24069 24070 24071 24072 24073
353 24074 24075 24076 24077 24078 24079 24080 24081 24082 24083 24084 24085
354 24086 24087 24088 24089 24090 24091 24092 24093 24094 24095 24096 24097
355 24098 24099 24100 24101 24102 24103 24104 24105 24106 24107 24108 24109
356 24110 24111 24112 24113 24114 24115 24116 24117 24118 24119 24120 24121
357 24122 24123 24124 24125 24126 24127 24128 24129 24130 24131 24132 24133
358 24134 24135 24136 24137 24138 24139 24140 24141 24142 24143 24144 24145
359 24146 24147 24148 24149 24150 24151 24152 24153 24154 24155 24156 24157
360 24158 24159 24160 24161 24162 24163 24164 24165 24166 24167 24168 24169
361 24170 24171 24172 24173 24174 24175 24176 24177 24178 24179 24180 24181
362 24182 24183 24184 24185 24186 24187 24188 24189 24190 24191 24192 24193
363 24194 24195 24196 24197 24198 24199 24200 24201 24202 24203 24204 24205

364 24206 24207 24208 24209 24210 24211 24212 24213 24214 24215 24216 24217
365 24218 24219 24220 24221 24222 24223 24224 24225 24226 24227 24228 24229
366 24230 24231 24232 24233 24234 24235 24236 24237 24238 24239 24240 24241
367 24242 24243 24244 24245 24246 24247 24248 24249 24250 24251 24252 24253
368 24254 24255 24256 24257 24258 24259 24260 24261 24262 24263 24264 24265
369 24266 24267 24268 24269 24270 24271 24272 24273 24274 24275 24276 24277
370 24278 24279 24280 24281 24282 24283 24284 24285 24286 24287 24288 24289
371 24290 24291 24292 24293 24294 24295 24296 24297 24298 24299 24300 24301
372 24302 24303 24304 24305 24306 24307 24308 24309 24310 24311 24312 24313
373 24314 24315 24316 24317 24318 24319 24320 24321 24322 24323 24324 24325
374 24326 24327 24328 24329 24330 24331 24332 24333 24334 24335 24336 24337
375 24338 24339 24340 24341 24342 24343 24344 24345 24346 24347 24348 24349
376 24350 24351 24352 24353 24354 24355 24356 24357 24358 24359 24360 24361
377 24362 24363 24364 24365 24366 24367 24368 24369 24370 24371 24372 24373
378 24374 24375 24376 24377 24378 24379 24380 24381 24382 24383 24384 24385
379 24386 24387 24388 24389 24390 24391 24392 24393 24394 24395 24396 24397
380 24398 24399 24400 24401 24402 24403 24404 24405 24406 24407 24408 24409
381 24410 24411 24412 24413 24414 24415 24416 24417 24418 24419 24420 24421
382 24422 24423 24424 24425 24426 24427 24428 24429 24430 24431 24432 24433
383 24434 24435 24436 24437 24438 24439 24440 24441 24442 24443 24444 24445
384 24446 24447 24448 24449 24450 24451 24452 24453 24454 24455 24456 24457
385 24458 24459 24460 24461 24462 24463 24464 24465 24466 24467 24468 24469
386 24470 24471 24472 24473 24474 24475 24476 24477 24478 24479 24480 24481
387 24482 24483 24484 24485 24486 24487 24488 24489 24490 24491 24492 24493
388 24494 24495 24496 24497 24498 24499 24500 24501 24502 24503 24504 24505
389 24506 24507 24508 24509 24510 24511 24512 24513 24514 24515 24516 24517
390 24518 24519 24520 24521 24522 24523 24524 24525 24526 24527 24528 24529
391 24530 24531 24532 24533 24534 24535 24536 24537 24538 24539 24540 24541
392 24542 24543 24544 24545 24546 24547 24548 24549 24550 24551 24552 24553
393 24554 24555 24556 24557 24558 24559 24560 24561 24562 24563 24564 24565
394 24566 24567 24568 24569 24570 24571 24572 24573 24574 24575 24576 24577
395 24578 24579 24580 24581 24582 24583 24584 24585 24586 24587 24588 24589
396 24590 24591 24592 24593 24594 24595 24596 24597 24598 24599 24600 24601
397 24602 24603 24604 24605 24606 24607 24608 24609 24610 24611 24612 24613
398 24614 24615 24616 24617 24618 24619 24620 24621 24622 24623 24624 24625
399 24626 24627 24628 24629 24630 24631 24632 24633 24634 24635 24636 24637
400 24638 24639 24640 24641 24642 24643 24644 24645 24646 24647 24648 24649


Cir. int. auxiliary Sub. Circula
Target position Operation speed Dwell M Helica Contro
Step point Axis r int.
time code l int. l word
Low High Low High Low High setting turns
1 24650 24651 24652 24653 24654 24655 24656 24657 24658 24659 24660 24661
2 24662 24663 24664 24665 24666 24667 24668 24669 24670 24671 24672 24673
3 24674 24675 24676 24677 24678 24679 24680 24681 24682 24683 24684 24685
4 24686 24687 24688 24689 24690 24691 24692 24693 24694 24695 24696 24697
5 24698 24699 24700 24701 24702 24703 24704 24705 24706 24707 24708 24709
6 24710 24711 24712 24713 24714 24715 24716 24717 24718 24719 24720 24721
7 24722 24723 24724 24725 24726 24727 24728 24729 24730 24731 24732 24733
8 24734 24735 24736 24737 24738 24739 24740 24741 24742 24743 24744 24745
9 24746 24747 24748 24749 24750 24751 24752 24753 24754 24755 24756 24757
10 24758 24759 24760 24761 24762 24763 24764 24765 24766 24767 24768 24769
11 24770 24771 24772 24773 24774 24775 24776 24777 24778 24779 24780 24781
12 24782 24783 24784 24785 24786 24787 24788 24789 24790 24791 24792 24793
13 24794 24795 24796 24797 24798 24799 24800 24801 24802 24803 24804 24805
14 24806 24807 24808 24809 24810 24811 24812 24813 24814 24815 24816 24817
15 24818 24819 24820 24821 24822 24823 24824 24825 24826 24827 24828 24829
16 24830 24831 24832 24833 24834 24835 24836 24837 24838 24839 24840 24841
17 24842 24843 24844 24845 24846 24847 24848 24849 24850 24851 24852 24853
18 24854 24855 24856 24857 24858 24859 24860 24861 24862 24863 24864 24865
19 24866 24867 24868 24869 24870 24871 24872 24873 24874 24875 24876 24877
20 24878 24879 24880 24881 24882 24883 24884 24885 24886 24887 24888 24889
21 24890 24891 24892 24893 24894 24895 24896 24897 24898 24899 24900 24901
22 24902 24903 24904 24905 24906 24907 24908 24909 24910 24911 24912 24913
23 24914 24915 24916 24917 24918 24919 24920 24921 24922 24923 24924 24925
24 24926 24927 24928 24929 24930 24931 24932 24933 24934 24935 24936 24937
25 24938 24939 24940 24941 24942 24943 24944 24945 24946 24947 24948 24949
26 24950 24951 24952 24953 24954 24955 24956 24957 24958 24959 24960 24961
27 24962 24963 24964 24965 24966 24967 24968 24969 24970 24971 24972 24973
28 24974 24975 24976 24977 24978 24979 24980 24981 24982 24983 24984 24985
29 24986 24987 24988 24989 24990 24991 24992 24993 24994 24995 24996 24997
30 24998 24999 25000 25001 25002 25003 25004 25005 25006 25007 25008 25009
31 25010 25011 25012 25013 25014 25015 25016 25017 25018 25019 25020 25021
32 25022 25023 25024 25025 25026 25027 25028 25029 25030 25031 25032 25033
33 25034 25035 25036 25037 25038 25039 25040 25041 25042 25043 25044 25045
34 25046 25047 25048 25049 25050 25051 25052 25053 25054 25055 25056 25057
35 25058 25059 25060 25061 25062 25063 25064 25065 25066 25067 25068 25069
36 25070 25071 25072 25073 25074 25075 25076 25077 25078 25079 25080 25081
37 25082 25083 25084 25085 25086 25087 25088 25089 25090 25091 25092 25093
38 25094 25095 25096 25097 25098 25099 25100 25101 25102 25103 25104 25105
39 25106 25107 25108 25109 25110 25111 25112 25113 25114 25115 25116 25117
40 25118 25119 25120 25121 25122 25123 25124 25125 25126 25127 25128 25129
41 25130 25131 25132 25133 25134 25135 25136 25137 25138 25139 25140 25141

42 25142 25143 25144 25145 25146 25147 25148 25149 25150 25151 25152 25153
43 25154 25155 25156 25157 25158 25159 25160 25161 25162 25163 25164 25165
44 25166 25167 25168 25169 25170 25171 25172 25173 25174 25175 25176 25177
45 25178 25179 25180 25181 25182 25183 25184 25185 25186 25187 25188 25189
46 25190 25191 25192 25193 25194 25195 25196 25197 25198 25199 25200 25201
47 25202 25203 25204 25205 25206 25207 25208 25209 25210 25211 25212 25213
48 25214 25215 25216 25217 25218 25219 25220 25221 25222 25223 25224 25225
49 25226 25227 25228 25229 25230 25231 25232 25233 25234 25235 25236 25237
50 25238 25239 25240 25241 25242 25243 25244 25245 25246 25247 25248 25249
51 25250 25251 25252 25253 25254 25255 25256 25257 25258 25259 25260 25261
52 25262 25263 25264 25265 25266 25267 25268 25269 25270 25271 25272 25273
53 25274 25275 25276 25277 25278 25279 25280 25281 25282 25283 25284 25285
54 25286 25287 25288 25289 25290 25291 25292 25293 25294 25295 25296 25297
55 25298 25299 25300 25301 25302 25303 25304 25305 25306 25307 25308 25309
56 25310 25311 25312 25313 25314 25315 25316 25317 25318 25319 25320 25321
57 25322 25323 25324 25325 25326 25327 25328 25329 25330 25331 25332 25333
58 25334 25335 25336 25337 25338 25339 25340 25341 25342 25343 25344 25345
59 25346 25347 25348 25349 25350 25351 25352 25353 25354 25355 25356 25357
60 25358 25359 25360 25361 25362 25363 25364 25365 25366 25367 25368 25369
61 25370 25371 25372 25373 25374 25375 25376 25377 25378 25379 25380 25381
62 25382 25383 25384 25385 25386 25387 25388 25389 25390 25391 25392 25393
63 25394 25395 25396 25397 25398 25399 25400 25401 25402 25403 25404 25405
64 25406 25407 25408 25409 25410 25411 25412 25413 25414 25415 25416 25417
65 25418 25419 25420 25421 25422 25423 25424 25425 25426 25427 25428 25429
66 25430 25431 25432 25433 25434 25435 25436 25437 25438 25439 25440 25441
67 25442 25443 25444 25445 25446 25447 25448 25449 25450 25451 25452 25453
68 25454 25455 25456 25457 25458 25459 25460 25461 25462 25463 25464 25465
69 25466 25467 25468 25469 25470 25471 25472 25473 25474 25475 25476 25477
70 25478 25479 25480 25481 25482 25483 25484 25485 25486 25487 25488 25489
71 25490 25491 25492 25493 25494 25495 25496 25497 25498 25499 25500 25501
72 25502 25503 25504 25505 25506 25507 25508 25509 25510 25511 25512 25513
73 25514 25515 25516 25517 25518 25519 25520 25521 25522 25523 25524 25525
74 25526 25527 25528 25529 25530 25531 25532 25533 25534 25535 25536 25537
75 25538 25539 25540 25541 25542 25543 25544 25545 25546 25547 25548 25549
76 25550 25551 25552 25553 25554 25555 25556 25557 25558 25559 25560 25561
77 25562 25563 25564 25565 25566 25567 25568 25569 25570 25571 25572 25573
78 25574 25575 25576 25577 25578 25579 25580 25581 25582 25583 25584 25585
79 25586 25587 25588 25589 25590 25591 25592 25593 25594 25595 25596 25597
80 25598 25599 25600 25601 25602 25603 25604 25605 25606 25607 25608 25609
81 25610 25611 25612 25613 25614 25615 25616 25617 25618 25619 25620 25621
82 25622 25623 25624 25625 25626 25627 25628 25629 25630 25631 25632 25633
83 25634 25635 25636 25637 25638 25639 25640 25641 25642 25643 25644 25645
84 25646 25647 25648 25649 25650 25651 25652 25653 25654 25655 25656 25657
85 25658 25659 25660 25661 25662 25663 25664 25665 25666 25667 25668 25669
86 25670 25671 25672 25673 25674 25675 25676 25677 25678 25679 25680 25681
87 25682 25683 25684 25685 25686 25687 25688 25689 25690 25691 25692 25693

88 25694 25695 25696 25697 25698 25699 25700 25701 25702 25703 25704 25705
89 25706 25707 25708 25709 25710 25711 25712 25713 25714 25715 25716 25717
90 25718 25719 25720 25721 25722 25723 25724 25725 25726 25727 25728 25729
91 25730 25731 25732 25733 25734 25735 25736 25737 25738 25739 25740 25741
92 25742 25743 25744 25745 25746 25747 25748 25749 25750 25751 25752 25753
93 25754 25755 25756 25757 25758 25759 25760 25761 25762 25763 25764 25765
94 25766 25767 25768 25769 25770 25771 25772 25773 25774 25775 25776 25777
95 25778 25779 25780 25781 25782 25783 25784 25785 25786 25787 25788 25789
96 25790 25791 25792 25793 25794 25795 25796 25797 25798 25799 25800 25801
97 25802 25803 25804 25805 25806 25807 25808 25809 25810 25811 25812 25813
98 25814 25815 25816 25817 25818 25819 25820 25821 25822 25823 25824 25825
99 25826 25827 25828 25829 25830 25831 25832 25833 25834 25835 25836 25837
100 25838 25839 25840 25841 25842 25843 25844 25845 25846 25847 25848 25849
101 25850 25851 25852 25853 25854 25855 25856 25857 25858 25859 25860 25861
102 25862 25863 25864 25865 25866 25867 25868 25869 25870 25871 25872 25873
103 25874 25875 25876 25877 25878 25879 25880 25881 25882 25883 25884 25885
104 25886 25887 25888 25889 25890 25891 25892 25893 25894 25895 25896 25897
105 25898 25899 25900 25901 25902 25903 25904 25905 25906 25907 25908 25909
106 25910 25911 25912 25913 25914 25915 25916 25917 25918 25919 25920 25921
107 25922 25923 25924 25925 25926 25927 25928 25929 25930 25931 25932 25933
108 25934 25935 25936 25937 25938 25939 25940 25941 25942 25943 25944 25945
109 25946 25947 25948 25949 25950 25951 25952 25953 25954 25955 25956 25957
110 25958 25959 25960 25961 25962 25963 25964 25965 25966 25967 25968 25969
111 25970 25971 25972 25973 25974 25975 25976 25977 25978 25979 25980 25981
112 25982 25983 25984 25985 25986 25987 25988 25989 25990 25991 25992 25993
113 25994 25995 25996 25997 25998 25999 26000 26001 26002 26003 26004 26005
114 26006 26007 26008 26009 26010 26011 26012 26013 26014 26015 26016 26017
115 26018 26019 26020 26021 26022 26023 26024 26025 26026 26027 26028 26029
116 26030 26031 26032 26033 26034 26035 26036 26037 26038 26039 26040 26041
117 26042 26043 26044 26045 26046 26047 26048 26049 26050 26051 26052 26053
118 26054 26055 26056 26057 26058 26059 26060 26061 26062 26063 26064 26065
119 26066 26067 26068 26069 26070 26071 26072 26073 26074 26075 26076 26077
120 26078 26079 26080 26081 26082 26083 26084 26085 26086 26087 26088 26089
121 26090 26091 26092 26093 26094 26095 26096 26097 26098 26099 26100 26101
122 26102 26103 26104 26105 26106 26107 26108 26109 26110 26111 26112 26113
123 26114 26115 26116 26117 26118 26119 26120 26121 26122 26123 26124 26125
124 26126 26127 26128 26129 26130 26131 26132 26133 26134 26135 26136 26137
125 26138 26139 26140 26141 26142 26143 26144 26145 26146 26147 26148 26149
126 26150 26151 26152 26153 26154 26155 26156 26157 26158 26159 26160 26161
127 26162 26163 26164 26165 26166 26167 26168 26169 26170 26171 26172 26173
128 26174 26175 26176 26177 26178 26179 26180 26181 26182 26183 26184 26185
129 26186 26187 26188 26189 26190 26191 26192 26193 26194 26195 26196 26197
130 26198 26199 26200 26201 26202 26203 26204 26205 26206 26207 26208 26209
131 26210 26211 26212 26213 26214 26215 26216 26217 26218 26219 26220 26221
132 26222 26223 26224 26225 26226 26227 26228 26229 26230 26231 26232 26233
133 26234 26235 26236 26237 26238 26239 26240 26241 26242 26243 26244 26245

134 26246 26247 26248 26249 26250 26251 26252 26253 26254 26255 26256 26257
135 26258 26259 26260 26261 26262 26263 26264 26265 26266 26267 26268 26269
136 26270 26271 26272 26273 26274 26275 26276 26277 26278 26279 26280 26281
137 26282 26283 26284 26285 26286 26287 26288 26289 26290 26291 26292 26293
138 26294 26295 26296 26297 26298 26299 26300 26301 26302 26303 26304 26305
139 26306 26307 26308 26309 26310 26311 26312 26313 26314 26315 26316 26317
140 26318 26319 26320 26321 26322 26323 26324 26325 26326 26327 26328 26329
141 26330 26331 26332 26333 26334 26335 26336 26337 26338 26339 26340 26341
142 26342 26343 26344 26345 26346 26347 26348 26349 26350 26351 26352 26353
143 26354 26355 26356 26357 26358 26359 26360 26361 26362 26363 26364 26365
144 26366 26367 26368 26369 26370 26371 26372 26373 26374 26375 26376 26377
145 26378 26379 26380 26381 26382 26383 26384 26385 26386 26387 26388 26389
146 26390 26391 26392 26393 26394 26395 26396 26397 26398 26399 26400 26401
147 26402 26403 26404 26405 26406 26407 26408 26409 26410 26411 26412 26413
148 26414 26415 26416 26417 26418 26419 26420 26421 26422 26423 26424 26425
149 26426 26427 26428 26429 26430 26431 26432 26433 26434 26435 26436 26437
150 26438 26439 26440 26441 26442 26443 26444 26445 26446 26447 26448 26449
151 26450 26451 26452 26453 26454 26455 26456 26457 26458 26459 26460 26461
152 26462 26463 26464 26465 26466 26467 26468 26469 26470 26471 26472 26473
153 26474 26475 26476 26477 26478 26479 26480 26481 26482 26483 26484 26485
154 26486 26487 26488 26489 26490 26491 26492 26493 26494 26495 26496 26497
155 26498 26499 26500 26501 26502 26503 26504 26505 26506 26507 26508 26509
156 26510 26511 26512 26513 26514 26515 26516 26517 26518 26519 26520 26521
157 26522 26523 26524 26525 26526 26527 26528 26529 26530 26531 26532 26533
158 26534 26535 26536 26537 26538 26539 26540 26541 26542 26543 26544 26545
159 26546 26547 26548 26549 26550 26551 26552 26553 26554 26555 26556 26557
160 26558 26559 26560 26561 26562 26563 26564 26565 26566 26567 26568 26569
161 26570 26571 26572 26573 26574 26575 26576 26577 26578 26579 26580 26581
162 26582 26583 26584 26585 26586 26587 26588 26589 26590 26591 26592 26593
163 26594 26595 26596 26597 26598 26599 26600 26601 26602 26603 26604 26605
164 26606 26607 26608 26609 26610 26611 26612 26613 26614 26615 26616 26617
165 26618 26619 26620 26621 26622 26623 26624 26625 26626 26627 26628 26629
166 26630 26631 26632 26633 26634 26635 26636 26637 26638 26639 26640 26641
167 26642 26643 26644 26645 26646 26647 26648 26649 26650 26651 26652 26653
168 26654 26655 26656 26657 26658 26659 26660 26661 26662 26663 26664 26665
169 26666 26667 26668 26669 26670 26671 26672 26673 26674 26675 26676 26677
170 26678 26679 26680 26681 26682 26683 26684 26685 26686 26687 26688 26689
171 26690 26691 26692 26693 26694 26695 26696 26697 26698 26699 26700 26701
172 26702 26703 26704 26705 26706 26707 26708 26709 26710 26711 26712 26713
173 26714 26715 26716 26717 26718 26719 26720 26721 26722 26723 26724 26725
174 26726 26727 26728 26729 26730 26731 26732 26733 26734 26735 26736 26737
175 26738 26739 26740 26741 26742 26743 26744 26745 26746 26747 26748 26749
176 26750 26751 26752 26753 26754 26755 26756 26757 26758 26759 26760 26761
177 26762 26763 26764 26765 26766 26767 26768 26769 26770 26771 26772 26773
178 26774 26775 26776 26777 26778 26779 26780 26781 26782 26783 26784 26785
179 26786 26787 26788 26789 26790 26791 26792 26793 26794 26795 26796 26797

180 26798 26799 26800 26801 26802 26803 26804 26805 26806 26807 26808 26809
181 26810 26811 26812 26813 26814 26815 26816 26817 26818 26819 26820 26821
182 26822 26823 26824 26825 26826 26827 26828 26829 26830 26831 26832 26833
183 26834 26835 26836 26837 26838 26839 26840 26841 26842 26843 26844 26845
184 26846 26847 26848 26849 26850 26851 26852 26853 26854 26855 26856 26857
185 26858 26859 26860 26861 26862 26863 26864 26865 26866 26867 26868 26869
186 26870 26871 26872 26873 26874 26875 26876 26877 26878 26879 26880 26881
187 26882 26883 26884 26885 26886 26887 26888 26889 26890 26891 26892 26893
188 26894 26895 26896 26897 26898 26899 26900 26901 26902 26903 26904 26905
189 26906 26907 26908 26909 26910 26911 26912 26913 26914 26915 26916 26917
190 26918 26919 26920 26921 26922 26923 26924 26925 26926 26927 26928 26929
191 26930 26931 26932 26933 26934 26935 26936 26937 26938 26939 26940 26941
192 26942 26943 26944 26945 26946 26947 26948 26949 26950 26951 26952 26953
193 26954 26955 26956 26957 26958 26959 26960 26961 26962 26963 26964 26965
194 26966 26967 26968 26969 26970 26971 26972 26973 26974 26975 26976 26977
195 26978 26979 26980 26981 26982 26983 26984 26985 26986 26987 26988 26989
196 26990 26991 26992 26993 26994 26995 26996 26997 26998 26999 27000 27001
197 27002 27003 27004 27005 27006 27007 27008 27009 27010 27011 27012 27013
198 27014 27015 27016 27017 27018 27019 27020 27021 27022 27023 27024 27025
199 27026 27027 27028 27029 27030 27031 27032 27033 27034 27035 27036 27037
200 27038 27039 27040 27041 27042 27043 27044 27045 27046 27047 27048 27049
201 27050 27051 27052 27053 27054 27055 27056 27057 27058 27059 27060 27061
202 27062 27063 27064 27065 27066 27067 27068 27069 27070 27071 27072 27073
203 27074 27075 27076 27077 27078 27079 27080 27081 27082 27083 27084 27085
204 27086 27087 27088 27089 27090 27091 27092 27093 27094 27095 27096 27097
205 27098 27099 27100 27101 27102 27103 27104 27105 27106 27107 27108 27109
206 27110 27111 27112 27113 27114 27115 27116 27117 27118 27119 27120 27121
207 27122 27123 27124 27125 27126 27127 27128 27129 27130 27131 27132 27133
208 27134 27135 27136 27137 27138 27139 27140 27141 27142 27143 27144 27145
209 27146 27147 27148 27149 27150 27151 27152 27153 27154 27155 27156 27157
210 27158 27159 27160 27161 27162 27163 27164 27165 27166 27167 27168 27169
211 27170 27171 27172 27173 27174 27175 27176 27177 27178 27179 27180 27181
212 27182 27183 27184 27185 27186 27187 27188 27189 27190 27191 27192 27193
213 27194 27195 27196 27197 27198 27199 27200 27201 27202 27203 27204 27205
214 27206 27207 27208 27209 27210 27211 27212 27213 27214 27215 27216 27217
215 27218 27219 27220 27221 27222 27223 27224 27225 27226 27227 27228 27229
216 27230 27231 27232 27233 27234 27235 27236 27237 27238 27239 27240 27241
217 27242 27243 27244 27245 27246 27247 27248 27249 27250 27251 27252 27253
218 27254 27255 27256 27257 27258 27259 27260 27261 27262 27263 27264 27265
219 27266 27267 27268 27269 27270 27271 27272 27273 27274 27275 27276 27277
220 27278 27279 27280 27281 27282 27283 27284 27285 27286 27287 27288 27289
221 27290 27291 27292 27293 27294 27295 27296 27297 27298 27299 27300 27301
222 27302 27303 27304 27305 27306 27307 27308 27309 27310 27311 27312 27313
223 27314 27315 27316 27317 27318 27319 27320 27321 27322 27323 27324 27325
224 27326 27327 27328 27329 27330 27331 27332 27333 27334 27335 27336 27337
225 27338 27339 27340 27341 27342 27343 27344 27345 27346 27347 27348 27349

226 27350 27351 27352 27353 27354 27355 27356 27357 27358 27359 27360 27361
227 27362 27363 27364 27365 27366 27367 27368 27369 27370 27371 27372 27373
228 27374 27375 27376 27377 27378 27379 27380 27381 27382 27383 27384 27385
229 27386 27387 27388 27389 27390 27391 27392 27393 27394 27395 27396 27397
230 27398 27399 27400 27401 27402 27403 27404 27405 27406 27407 27408 27409
231 27410 27411 27412 27413 27414 27415 27416 27417 27418 27419 27420 27421
232 27422 27423 27424 27425 27426 27427 27428 27429 27430 27431 27432 27433
233 27434 27435 27436 27437 27438 27439 27440 27441 27442 27443 27444 27445
234 27446 27447 27448 27449 27450 27451 27452 27453 27454 27455 27456 27457
235 27458 27459 27460 27461 27462 27463 27464 27465 27466 27467 27468 27469
236 27470 27471 27472 27473 27474 27475 27476 27477 27478 27479 27480 27481
237 27482 27483 27484 27485 27486 27487 27488 27489 27490 27491 27492 27493
238 27494 27495 27496 27497 27498 27499 27500 27501 27502 27503 27504 27505
239 27506 27507 27508 27509 27510 27511 27512 27513 27514 27515 27516 27517
240 27518 27519 27520 27521 27522 27523 27524 27525 27526 27527 27528 27529
241 27530 27531 27532 27533 27534 27535 27536 27537 27538 27539 27540 27541
242 27542 27543 27544 27545 27546 27547 27548 27549 27550 27551 27552 27553
243 27554 27555 27556 27557 27558 27559 27560 27561 27562 27563 27564 27565
244 27566 27567 27568 27569 27570 27571 27572 27573 27574 27575 27576 27577
245 27578 27579 27580 27581 27582 27583 27584 27585 27586 27587 27588 27589
246 27590 27591 27592 27593 27594 27595 27596 27597 27598 27599 27600 27601
247 27602 27603 27604 27605 27606 27607 27608 27609 27610 27611 27612 27613
248 27614 27615 27616 27617 27618 27619 27620 27621 27622 27623 27624 27625
249 27626 27627 27628 27629 27630 27631 27632 27633 27634 27635 27636 27637
250 27638 27639 27640 27641 27642 27643 27644 27645 27646 27647 27648 27649
251 27650 27651 27652 27653 27654 27655 27656 27657 27658 27659 27660 27661
252 27662 27663 27664 27665 27666 27667 27668 27669 27670 27671 27672 27673
253 27674 27675 27676 27677 27678 27679 27680 27681 27682 27683 27684 27685
254 27686 27687 27688 27689 27690 27691 27692 27693 27694 27695 27696 27697
255 27698 27699 27700 27701 27702 27703 27704 27705 27706 27707 27708 27709
256 27710 27711 27712 27713 27714 27715 27716 27717 27718 27719 27720 27721
257 27722 27723 27724 27725 27726 27727 27728 27729 27730 27731 27732 27733
258 27734 27735 27736 27737 27738 27739 27740 27741 27742 27743 27744 27745
259 27746 27747 27748 27749 27750 27751 27752 27753 27754 27755 27756 27757
260 27758 27759 27760 27761 27762 27763 27764 27765 27766 27767 27768 27769
261 27770 27771 27772 27773 27774 27775 27776 27777 27778 27779 27780 27781
262 27782 27783 27784 27785 27786 27787 27788 27789 27790 27791 27792 27793
263 27794 27795 27796 27797 27798 27799 27800 27801 27802 27803 27804 27805
264 27806 27807 27808 27809 27810 27811 27812 27813 27814 27815 27816 27817
265 27818 27819 27820 27821 27822 27823 27824 27825 27826 27827 27828 27829
266 27830 27831 27832 27833 27834 27835 27836 27837 27838 27839 27840 27841
267 27842 27843 27844 27845 27846 27847 27848 27849 27850 27851 27852 27853
268 27854 27855 27856 27857 27858 27859 27860 27861 27862 27863 27864 27865
269 27866 27867 27868 27869 27870 27871 27872 27873 27874 27875 27876 27877
270 27878 27879 27880 27881 27882 27883 27884 27885 27886 27887 27888 27889
271 27890 27891 27892 27893 27894 27895 27896 27897 27898 27899 27900 27901

272 27902 27903 27904 27905 27906 27907 27908 27909 27910 27911 27912 27913
273 27914 27915 27916 27917 27918 27919 27920 27921 27922 27923 27924 27925
274 27926 27927 27928 27929 27930 27931 27932 27933 27934 27935 27936 27937
275 27938 27939 27940 27941 27942 27943 27944 27945 27946 27947 27948 27949
276 27950 27951 27952 27953 27954 27955 27956 27957 27958 27959 27960 27961
277 27962 27963 27964 27965 27966 27967 27968 27969 27970 27971 27972 27973
278 27974 27975 27976 27977 27978 27979 27980 27981 27982 27983 27984 27985
279 27986 27987 27988 27989 27990 27991 27992 27993 27994 27995 27996 27997
280 27998 27999 28000 28001 28002 28003 28004 28005 28006 28007 28008 28009
281 28010 28011 28012 28013 28014 28015 28016 28017 28018 28019 28020 28021
282 28022 28023 28024 28025 28026 28027 28028 28029 28030 28031 28032 28033
283 28034 28035 28036 28037 28038 28039 28040 28041 28042 28043 28044 28045
284 28046 28047 28048 28049 28050 28051 28052 28053 28054 28055 28056 28057
285 28058 28059 28060 28061 28062 28063 28064 28065 28066 28067 28068 28069
286 28070 28071 28072 28073 28074 28075 28076 28077 28078 28079 28080 28081
287 28082 28083 28084 28085 28086 28087 28088 28089 28090 28091 28092 28093
288 28094 28095 28096 28097 28098 28099 28100 28101 28102 28103 28104 28105
289 28106 28107 28108 28109 28110 28111 28112 28113 28114 28115 28116 28117
290 28118 28119 28120 28121 28122 28123 28124 28125 28126 28127 28128 28129
291 28130 28131 28132 28133 28134 28135 28136 28137 28138 28139 28140 28141
292 28142 28143 28144 28145 28146 28147 28148 28149 28150 28151 28152 28153
293 28154 28155 28156 28157 28158 28159 28160 28161 28162 28163 28164 28165
294 28166 28167 28168 28169 28170 28171 28172 28173 28174 28175 28176 28177
295 28178 28179 28180 28181 28182 28183 28184 28185 28186 28187 28188 28189
296 28190 28191 28192 28193 28194 28195 28196 28197 28198 28199 28200 28201
297 28202 28203 28204 28205 28206 28207 28208 28209 28210 28211 28212 28213
298 28214 28215 28216 28217 28218 28219 28220 28221 28222 28223 28224 28225
299 28226 28227 28228 28229 28230 28231 28232 28233 28234 28235 28236 28237
300 28238 28239 28240 28241 28242 28243 28244 28245 28246 28247 28248 28249
301 28250 28251 28252 28253 28254 28255 28256 28257 28258 28259 28260 28261
302 28262 28263 28264 28265 28266 28267 28268 28269 28270 28271 28272 28273
303 28274 28275 28276 28277 28278 28279 28280 28281 28282 28283 28284 28285
304 28286 28287 28288 28289 28290 28291 28292 28293 28294 28295 28296 28297
305 28298 28299 28300 28301 28302 28303 28304 28305 28306 28307 28308 28309
306 28310 28311 28312 28313 28314 28315 28316 28317 28318 28319 28320 28321
307 28322 28323 28324 28325 28326 28327 28328 28329 28330 28331 28332 28333
308 28334 28335 28336 28337 28338 28339 28340 28341 28342 28343 28344 28345
309 28346 28347 28348 28349 28350 28351 28352 28353 28354 28355 28356 28357
310 28358 28359 28360 28361 28362 28363 28364 28365 28366 28367 28368 28369
311 28370 28371 28372 28373 28374 28375 28376 28377 28378 28379 28380 28381
312 28382 28383 28384 28385 28386 28387 28388 28389 28390 28391 28392 28393
313 28394 28395 28396 28397 28398 28399 28400 28401 28402 28403 28404 28405
314 28406 28407 28408 28409 28410 28411 28412 28413 28414 28415 28416 28417
315 28418 28419 28420 28421 28422 28423 28424 28425 28426 28427 28428 28429
316 28430 28431 28432 28433 28434 28435 28436 28437 28438 28439 28440 28441
317 28442 28443 28444 28445 28446 28447 28448 28449 28450 28451 28452 28453

318 28454 28455 28456 28457 28458 28459 28460 28461 28462 28463 28464 28465
319 28466 28467 28468 28469 28470 28471 28472 28473 28474 28475 28476 28477
320 28478 28479 28480 28481 28482 28483 28484 28485 28486 28487 28488 28489
321 28490 28491 28492 28493 28494 28495 28496 28497 28498 28499 28500 28501
322 28502 28503 28504 28505 28506 28507 28508 28509 28510 28511 28512 28513
323 28514 28515 28516 28517 28518 28519 28520 28521 28522 28523 28524 28525
324 28526 28527 28528 28529 28530 28531 28532 28533 28534 28535 28536 28537
325 28538 28539 28540 28541 28542 28543 28544 28545 28546 28547 28548 28549
326 28550 28551 28552 28553 28554 28555 28556 28557 28558 28559 28560 28561
327 28562 28563 28564 28565 28566 28567 28568 28569 28570 28571 28572 28573
328 28574 28575 28576 28577 28578 28579 28580 28581 28582 28583 28584 28585
329 28586 28587 28588 28589 28590 28591 28592 28593 28594 28595 28596 28597
330 28598 28599 28600 28601 28602 28603 28604 28605 28606 28607 28608 28609
331 28610 28611 28612 28613 28614 28615 28616 28617 28618 28619 28620 28621
332 28622 28623 28624 28625 28626 28627 28628 28629 28630 28631 28632 28633
333 28634 28635 28636 28637 28638 28639 28640 28641 28642 28643 28644 28645
334 28646 28647 28648 28649 28650 28651 28652 28653 28654 28655 28656 28657
335 28658 28659 28660 28661 28662 28663 28664 28665 28666 28667 28668 28669
336 28670 28671 28672 28673 28674 28675 28676 28677 28678 28679 28680 28681
337 28682 28683 28684 28685 28686 28687 28688 28689 28690 28691 28692 28693
338 28694 28695 28696 28697 28698 28699 28700 28701 28702 28703 28704 28705
339 28706 28707 28708 28709 28710 28711 28712 28713 28714 28715 28716 28717
340 28718 28719 28720 28721 28722 28723 28724 28725 28726 28727 28728 28729
341 28730 28731 28732 28733 28734 28735 28736 28737 28738 28739 28740 28741
342 28742 28743 28744 28745 28746 28747 28748 28749 28750 28751 28752 28753
343 28754 28755 28756 28757 28758 28759 28760 28761 28762 28763 28764 28765
344 28766 28767 28768 28769 28770 28771 28772 28773 28774 28775 28776 28777
345 28778 28779 28780 28781 28782 28783 28784 28785 28786 28787 28788 28789
346 28790 28791 28792 28793 28794 28795 28796 28797 28798 28799 28800 28801
347 28802 28803 28804 28805 28806 28807 28808 28809 28810 28811 28812 28813
348 28814 28815 28816 28817 28818 28819 28820 28821 28822 28823 28824 28825
349 28826 28827 28828 28829 28830 28831 28832 28833 28834 28835 28836 28837
350 28838 28839 28840 28841 28842 28843 28844 28845 28846 28847 28848 28849
351 28850 28851 28852 28853 28854 28855 28856 28857 28858 28859 28860 28861
352 28862 28863 28864 28865 28866 28867 28868 28869 28870 28871 28872 28873
353 28874 28875 28876 28877 28878 28879 28880 28881 28882 28883 28884 28885
354 28886 28887 28888 28889 28890 28891 28892 28893 28894 28895 28896 28897
355 28898 28899 28900 28901 28902 28903 28904 28905 28906 28907 28908 28909
356 28910 28911 28912 28913 28914 28915 28916 28917 28918 28919 28920 28921
357 28922 28923 28924 28925 28926 28927 28928 28929 28930 28931 28932 28933
358 28934 28935 28936 28937 28938 28939 28940 28941 28942 28943 28944 28945
359 28946 28947 28948 28949 28950 28951 28952 28953 28954 28955 28956 28957
360 28958 28959 28960 28961 28962 28963 28964 28965 28966 28967 28968 28969
361 28970 28971 28972 28973 28974 28975 28976 28977 28978 28979 28980 28981
362 28982 28983 28984 28985 28986 28987 28988 28989 28990 28991 28992 28993
363 28994 28995 28996 28997 28998 28999 29000 29001 29002 29003 29004 29005

364 29006 29007 29008 29009 29010 29011 29012 29013 29014 29015 29016 29017
365 29018 29019 29020 29021 29022 29023 29024 29025 29026 29027 29028 29029
366 29030 29031 29032 29033 29034 29035 29036 29037 29038 29039 29040 29041
367 29042 29043 29044 29045 29046 29047 29048 29049 29050 29051 29052 29053
368 29054 29055 29056 29057 29058 29059 29060 29061 29062 29063 29064 29065
369 29066 29067 29068 29069 29070 29071 29072 29073 29074 29075 29076 29077
370 29078 29079 29080 29081 29082 29083 29084 29085 29086 29087 29088 29089
371 29090 29091 29092 29093 29094 29095 29096 29097 29098 29099 29100 29101
372 29102 29103 29104 29105 29106 29107 29108 29109 29110 29111 29112 29113
373 29114 29115 29116 29117 29118 29119 29120 29121 29122 29123 29124 29125
374 29126 29127 29128 29129 29130 29131 29132 29133 29134 29135 29136 29137
375 29138 29139 29140 29141 29142 29143 29144 29145 29146 29147 29148 29149
376 29150 29151 29152 29153 29154 29155 29156 29157 29158 29159 29160 29161
377 29162 29163 29164 29165 29166 29167 29168 29169 29170 29171 29172 29173
378 29174 29175 29176 29177 29178 29179 29180 29181 29182 29183 29184 29185
379 29186 29187 29188 29189 29190 29191 29192 29193 29194 29195 29196 29197
380 29198 29199 29200 29201 29202 29203 29204 29205 29206 29207 29208 29209
381 29210 29211 29212 29213 29214 29215 29216 29217 29218 29219 29220 29221
382 29222 29223 29224 29225 29226 29227 29228 29229 29230 29231 29232 29233
383 29234 29235 29236 29237 29238 29239 29240 29241 29242 29243 29244 29245
384 29246 29247 29248 29249 29250 29251 29252 29253 29254 29255 29256 29257
385 29258 29259 29260 29261 29262 29263 29264 29265 29266 29267 29268 29269
386 29270 29271 29272 29273 29274 29275 29276 29277 29278 29279 29280 29281
387 29282 29283 29284 29285 29286 29287 29288 29289 29290 29291 29292 29293
388 29294 29295 29296 29297 29298 29299 29300 29301 29302 29303 29304 29305
389 29306 29307 29308 29309 29310 29311 29312 29313 29314 29315 29316 29317
390 29318 29319 29320 29321 29322 29323 29324 29325 29326 29327 29328 29329
391 29330 29331 29332 29333 29334 29335 29336 29337 29338 29339 29340 29341
392 29342 29343 29344 29345 29346 29347 29348 29349 29350 29351 29352 29353
393 29354 29355 29356 29357 29358 29359 29360 29361 29362 29363 29364 29365
394 29366 29367 29368 29369 29370 29371 29372 29373 29374 29375 29376 29377
395 29378 29379 29380 29381 29382 29383 29384 29385 29386 29387 29388 29389
396 29390 29391 29392 29393 29394 29395 29396 29397 29398 29399 29400 29401
397 29402 29403 29404 29405 29406 29407 29408 29409 29410 29411 29412 29413
398 29414 29415 29416 29417 29418 29419 29420 29421 29422 29423 29424 29425
399 29426 29427 29428 29429 29430 29431 29432 29433 29434 29435 29436 29437
400 29438 29439 29440 29441 29442 29443 29444 29445 29446 29447 29448 29449

(1) Control Word

Bit position Details
Coordinate (bit 0) 0:Absolute 1:Relative
0: Single axis position, 1: Single axis speed,
Control method (bit 1~3) 2: Single axis Feed, 3:Linear interpolation, 4: Circular
interpolation
Operation method (bit 4) 0:, 1:Repeat
Operation pattern (bit 5~6) 0: End, 1:Keep, 2:Continuous
Circular interpolation (bit 7) 0: Arc<180 1:Arc>=180
ACC. No. (bit 8~9) 0~3
Dec. No. (bit 10~11) 0~3
Circular interpolation mode (bit
0:Middle point 1:Center Point, 2:Radius
12~13)
Circular interpolation direction (bit
0:CW, 1:CCW
14)

11.8 CAM data memory address

Block 1 Block 2 Block 3 Block 4 Block 5 Block 6 Block 7 Block 8
CAM Distance per rotation of main axis(Low) 41820 46050 50280 54510 58740 62970 67200 71430
CAM Distance per rotation of main axis (High) 41821 46051 50281 54511 58741 62971 67201 71431
CAM Pulses per rotation of main axis(Low) 41822 46052 50282 54512 58742 62972 67202 71432
CAM Pulses per rotation of main axis (High) 41823 46053 50283 54513 58743 62973 67203 71433
CAM Distance per rotation of sub axis (Low) 41824 46054 50284 54514 58744 62974 67204 71434
CAM Distance per rotation of sub axis (High) 41825 46055 50285 54515 58745 62975 67205 71435
CAM Pulses per rotation of sub axis (Low) 41826 46056 50286 54516 58746 62976 67206 71436
CAM Pulses per rotation of sub axis (High) 41827 46057 50287 54517 58747 62977 67207 71437
CAM Data End Step(WORD) 41828 46058 50288 54518 58748 62978 67208 71438
CAM Data Info(WORD)
Bit 0~1 : main axis unit
41829 46059 50289 54519 58749 62979 67209 71439
Bit 2~3 : Sub axis unit
Bit 8 : CAM mode (0: repeat,1: increase)
End position of main axis(low
16bit) 41830 46060 50290 54520 58750 62980 67210 71440
End position of main axis(high
16bit) 41831 46061 50291 54521 58751 62981 67211 71441
User Data[0] End position of sub axis(low 16bit) 41832 46062 50292 54522 58752 62982 67212 71442
End position of sub axis(high
16bit) 41833 46063 50293 54523 58753 62983 67213 71443
CAM Curve 41834 46064 50294 54524 58754 62984 67214 71444
- 41835 46065 50295 54525 58755 62985 67215 71445
16bit) 41836 46066 50296 54526 58756 62986 67216 71446
16bit) 41837 46067 50297 54527 58757 62987 67217 71447
16bit) 41839 46069 50299 54529 58759 62989 67219 71449
CAM Curve 41840 46070 50300 54530 58760 62990 67220 71450
- 41841 46071 50301 54531 58761 62991 67221 71451
16bit) 41842 46072 50302 54532 58762 62992 67222 71452
16bit) 41843 46073 50303 54533 58763 62993 67223 71453
16bit) 41845 46075 50305 54535 58765 62995 67225 71455
CAM Curve 41846 46076 50306 54536 58766 62996 67226 71456
- 41847 46077 50307 54537 58767 62997 67227 71457
User Data[3] 16bit) 41848 46078 50308 54538 58768 62998 67228 71458
End position of main axis(high 41849 46079 50309 54539 58769 62999 67229 71459

16bit)
End position of sub axis(low 16bit) 41850 46080 50310 54540 58770 63000 67230 71460
16bit) 41851 46081 50311 54541 58771 63001 67231 71461
CAM Curve 41852 46082 50312 54542 58772 63002 67232 71462
- 41853 46083 50313 54543 58773 63003 67233 71463
16bit) 41854 46084 50314 54544 58774 63004 67234 71464
16bit) 41855 46085 50315 54545 58775 63005 67235 71465
16bit) 41857 46087 50317 54547 58777 63007 67237 71467
CAM Curve 41858 46088 50318 54548 58778 63008 67238 71468
- 41859 46089 50319 54549 58779 63009 67239 71469
16bit) 41860 46090 50320 54550 58780 63010 67240 71470
16bit) 41861 46091 50321 54551 58781 63011 67241 71471
16bit) 41863 46093 50323 54553 58783 63013 67243 71473
CAM Curve 41864 46094 50324 54554 58784 63014 67244 71474
- 41865 46095 50325 54555 58785 63015 67245 71475
16bit) 41866 46096 50326 54556 58786 63016 67246 71476
16bit) 41867 46097 50327 54557 58787 63017 67247 71477
16bit) 41869 46099 50329 54559 58789 63019 67249 71479
CAM Curve 41870 46100 50330 54560 58790 63020 67250 71480
- 41871 46101 50331 54561 58791 63021 67251 71481
16bit) 41872 46102 50332 54562 58792 63022 67252 71482
16bit) 41873 46103 50333 54563 58793 63023 67253 71483
16bit) 41875 46105 50335 54565 58795 63025 67255 71485
CAM Curve 41876 46106 50336 54566 58796 63026 67256 71486
- 41877 46107 50337 54567 58797 63027 67257 71487
16bit) 41878 46108 50338 54568 58798 63028 67258 71488
User Data[8] End position of main axis(high
16bit) 41879 46109 50339 54569 58799 63029 67259 71489


16bit) 41881 46111 50341 54571 58801 63031 67261 71491
CAM Curve 41882 46112 50342 54572 58802 63032 67262 71492
- 41883 46113 50343 54573 58803 63033 67263 71493
16bit) 41884 46114 50344 54574 58804 63034 67264 71494
16bit) 41885 46115 50345 54575 58805 63035 67265 71495
16bit) 41887 46117 50347 54577 58807 63037 67267 71497
CAM Curve 41888 46118 50348 54578 58808 63038 67268 71498
- 41889 46119 50349 54579 58809 63039 67269 71499
16bit) 41890 46120 50350 54580 58810 63040 67270 71500
16bit) 41891 46121 50351 54581 58811 63041 67271 71501
16bit) 41893 46123 50353 54583 58813 63043 67273 71503
CAM Curve 41894 46124 50354 54584 58814 63044 67274 71504
- 41895 46125 50355 54585 58815 63045 67275 71505
16bit) 41896 46126 50356 54586 58816 63046 67276 71506
16bit) 41897 46127 50357 54587 58817 63047 67277 71507
16bit) 41899 46129 50359 54589 58819 63049 67279 71509
CAM Curve 41900 46130 50360 54590 58820 63050 67280 71510
- 41901 46131 50361 54591 58821 63051 67281 71511
16bit) 41902 46132 50362 54592 58822 63052 67282 71512
16bit) 41903 46133 50363 54593 58823 63053 67283 71513
16bit) 41905 46135 50365 54595 58825 63055 67285 71515
CAM Curve 41906 46136 50366 54596 58826 63056 67286 71516
- 41907 46137 50367 54597 58827 63057 67287 71517
16bit) 41908 46138 50368 54598 58828 63058 67288 71518
User Data[13] 16bit) 41909 46139 50369 54599 58829 63059 67289 71519
16bit) 41911 46141 50371 54601 58831 63061 67291 71521

CAM Curve 41912 46142 50372 54602 58832 63062 67292 71522
- 41913 46143 50373 54603 58833 63063 67293 71523
16bit) 41914 46144 50374 54604 58834 63064 67294 71524
16bit) 41915 46145 50375 54605 58835 63065 67295 71525
16bit) 41917 46147 50377 54607 58837 63067 67297 71527
CAM Curve 41918 46148 50378 54608 58838 63068 67298 71528
- 41919 46149 50379 54609 58839 63069 67299 71529
16bit) 41920 46150 50380 54610 58840 63070 67300 71530
16bit) 41921 46151 50381 54611 58841 63071 67301 71531
16bit) 41923 46153 50383 54613 58843 63073 67303 71533
CAM Curve 41924 46154 50384 54614 58844 63074 67304 71534
- 41925 46155 50385 54615 58845 63075 67305 71535
16bit) 41926 46156 50386 54616 58846 63076 67306 71536
16bit) 41927 46157 50387 54617 58847 63077 67307 71537
16bit) 41929 46159 50389 54619 58849 63079 67309 71539
CAM Curve 41930 46160 50390 54620 58850 63080 67310 71540
- 41931 46161 50391 54621 58851 63081 67311 71541
16bit) 41932 46162 50392 54622 58852 63082 67312 71542
16bit) 41933 46163 50393 54623 58853 63083 67313 71543
16bit) 41935 46165 50395 54625 58855 63085 67315 71545
CAM Curve 41936 46166 50396 54626 58856 63086 67316 71546
- 41937 46167 50397 54627 58857 63087 67317 71547
16bit) 41938 46168 50398 54628 58858 63088 67318 71548
16bit) 41939 46169 50399 54629 58859 63089 67319 71549
16bit) 41941 46171 50401 54631 58861 63091 67321 71551
CAM Curve 41942 46172 50402 54632 58862 63092 67322 71552
- 41943 46173 50403 54633 58863 63093 67323 71553


16bit) 41944 46174 50404 54634 58864 63094 67324 71554
16bit) 41945 46175 50405 54635 58865 63095 67325 71555
16bit) 41947 46177 50407 54637 58867 63097 67327 71557
CAM Curve 41948 46178 50408 54638 58868 63098 67328 71558
- 41949 46179 50409 54639 58869 63099 67329 71559
Step Offset(Float) 41950 46180 50410 54640 58870 63100 67330 71560
- 41951 46181 50411 54641 58871 63101 67331 71561
Total pulses 41952 46182 50412 54642 58872 63102 67332 71562
- 41953 46183 50413 54643 58873 63103 67333 71563
CAM Data[0](Low) 41954 46184 50414 54644 58874 63104 67334 71564
CAM Data[0](High) 41955 46185 50415 54645 58875 63105 67335 71565
CAM Data[1](Low) 41956 46186 50416 54646 58876 63106 67336 71566
CAM Data[1](High) 41957 46187 50417 54647 58877 63107 67337 71567
CAM Data[2](Low) 41958 46188 50418 54648 58878 63108 67338 71568
CAM Data[2](High) 41959 46189 50419 54649 58879 63109 67339 71569
CAM Data[3](Low) 41960 46190 50420 54650 58880 63110 67340 71570
CAM Data[3](High) 41961 46191 50421 54651 58881 63111 67341 71571
CAM Data[4](Low) 41962 46192 50422 54652 58882 63112 67342 71572
CAM Data[4](High) 41963 46193 50423 54653 58883 63113 67343 71573
CAM Data[5](Low) 41964 46194 50424 54654 58884 63114 67344 71574
CAM Data[5](High) 41965 46195 50425 54655 58885 63115 67345 71575
CAM Data[6](Low) 41966 46196 50426 54656 58886 63116 67346 71576
CAM Data[6](High) 41967 46197 50427 54657 58887 63117 67347 71577
CAM Data[7](Low) 41968 46198 50428 54658 58888 63118 67348 71578
CAM Data[7](High) 41969 46199 50429 54659 58889 63119 67349 71579
CAM Data[8](Low) 41970 46200 50430 54660 58890 63120 67350 71580
CAM Data[8](High) 41971 46201 50431 54661 58891 63121 67351 71581
CAM Data[9](Low) 41972 46202 50432 54662 58892 63122 67352 71582
CAM Data[9](High) 41973 46203 50433 54663 58893 63123 67353 71583
CAM Data[10](Low) 41974 46204 50434 54664 58894 63124 67354 71584
CAM Data[10](High) 41975 46205 50435 54665 58895 63125 67355 71585
CAM Data[11](Low) 41976 46206 50436 54666 58896 63126 67356 71586
CAM Data[11](High) 41977 46207 50437 54667 58897 63127 67357 71587
CAM Data[12](Low) 41978 46208 50438 54668 58898 63128 67358 71588
CAM Data[12](High) 41979 46209 50439 54669 58899 63129 67359 71589
CAM Data[13](Low) 41980 46210 50440 54670 58900 63130 67360 71590
CAM Data[13](High) 41981 46211 50441 54671 58901 63131 67361 71591
CAM Data[14](Low) 41982 46212 50442 54672 58902 63132 67362 71592
CAM Data[14](High) 41983 46213 50443 54673 58903 63133 67363 71593
CAM Data[15](Low) 41984 46214 50444 54674 58904 63134 67364 71594
CAM Data[15](High) 41985 46215 50445 54675 58905 63135 67365 71595
CAM Data[16](Low) 41986 46216 50446 54676 58906 63136 67366 71596

CAM Data[16](High) 41987 46217 50447 54677 58907 63137 67367 71597
CAM Data[17](Low) 41988 46218 50448 54678 58908 63138 67368 71598
CAM Data[17](High) 41989 46219 50449 54679 58909 63139 67369 71599
CAM Data[18](Low) 41990 46220 50450 54680 58910 63140 67370 71600
CAM Data[18](High) 41991 46221 50451 54681 58911 63141 67371 71601
CAM Data[19](Low) 41992 46222 50452 54682 58912 63142 67372 71602
CAM Data[19](High) 41993 46223 50453 54683 58913 63143 67373 71603
CAM Data[20](Low) 41994 46224 50454 54684 58914 63144 67374 71604
CAM Data[20](High) 41995 46225 50455 54685 58915 63145 67375 71605
CAM Data[21](Low) 41996 46226 50456 54686 58916 63146 67376 71606
CAM Data[21](High) 41997 46227 50457 54687 58917 63147 67377 71607
CAM Data[22](Low) 41998 46228 50458 54688 58918 63148 67378 71608
CAM Data[22](High) 41999 46229 50459 54689 58919 63149 67379 71609
CAM Data[23](Low) 42000 46230 50460 54690 58920 63150 67380 71610
CAM Data[23](High) 42001 46231 50461 54691 58921 63151 67381 71611
CAM Data[24](Low) 42002 46232 50462 54692 58922 63152 67382 71612
CAM Data[24](High) 42003 46233 50463 54693 58923 63153 67383 71613
CAM Data[25](Low) 42004 46234 50464 54694 58924 63154 67384 71614
CAM Data[25](High) 42005 46235 50465 54695 58925 63155 67385 71615
CAM Data[26](Low) 42006 46236 50466 54696 58926 63156 67386 71616
CAM Data[26](High) 42007 46237 50467 54697 58927 63157 67387 71617
CAM Data[27](Low) 42008 46238 50468 54698 58928 63158 67388 71618
CAM Data[27](High) 42009 46239 50469 54699 58929 63159 67389 71619
CAM Data[28](Low) 42010 46240 50470 54700 58930 63160 67390 71620
CAM Data[28](High) 42011 46241 50471 54701 58931 63161 67391 71621
CAM Data[29](Low) 42012 46242 50472 54702 58932 63162 67392 71622
CAM Data[29](High) 42013 46243 50473 54703 58933 63163 67393 71623
CAM Data[30](Low) 42014 46244 50474 54704 58934 63164 67394 71624
CAM Data[30](High) 42015 46245 50475 54705 58935 63165 67395 71625
CAM Data[31](Low) 42016 46246 50476 54706 58936 63166 67396 71626
CAM Data[31](High) 42017 46247 50477 54707 58937 63167 67397 71627
CAM Data[32](Low) 42018 46248 50478 54708 58938 63168 67398 71628
CAM Data[32](High) 42019 46249 50479 54709 58939 63169 67399 71629
CAM Data[33](Low) 42020 46250 50480 54710 58940 63170 67400 71630
CAM Data[33](High) 42021 46251 50481 54711 58941 63171 67401 71631
CAM Data[34](Low) 42022 46252 50482 54712 58942 63172 67402 71632
CAM Data[34](High) 42023 46253 50483 54713 58943 63173 67403 71633
CAM Data[35](Low) 42024 46254 50484 54714 58944 63174 67404 71634
CAM Data[35](High) 42025 46255 50485 54715 58945 63175 67405 71635
CAM Data[36](Low) 42026 46256 50486 54716 58946 63176 67406 71636
CAM Data[36](High) 42027 46257 50487 54717 58947 63177 67407 71637
CAM Data[37](Low) 42028 46258 50488 54718 58948 63178 67408 71638
CAM Data[37](High) 42029 46259 50489 54719 58949 63179 67409 71639
CAM Data[38](Low) 42030 46260 50490 54720 58950 63180 67410 71640
CAM Data[38](High) 42031 46261 50491 54721 58951 63181 67411 71641
CAM Data[39](Low) 42032 46262 50492 54722 58952 63182 67412 71642

CAM Data[39](High) 42033 46263 50493 54723 58953 63183 67413 71643
CAM Data[40](Low) 42034 46264 50494 54724 58954 63184 67414 71644
CAM Data[40](High) 42035 46265 50495 54725 58955 63185 67415 71645
CAM Data[41](Low) 42036 46266 50496 54726 58956 63186 67416 71646
CAM Data[41](High) 42037 46267 50497 54727 58957 63187 67417 71647
CAM Data[42](Low) 42038 46268 50498 54728 58958 63188 67418 71648
CAM Data[42](High) 42039 46269 50499 54729 58959 63189 67419 71649
CAM Data[43](Low) 42040 46270 50500 54730 58960 63190 67420 71650
CAM Data[43](High) 42041 46271 50501 54731 58961 63191 67421 71651
CAM Data[44](Low) 42042 46272 50502 54732 58962 63192 67422 71652
CAM Data[44](High) 42043 46273 50503 54733 58963 63193 67423 71653
CAM Data[45](Low) 42044 46274 50504 54734 58964 63194 67424 71654
CAM Data[45](High) 42045 46275 50505 54735 58965 63195 67425 71655
CAM Data[46](Low) 42046 46276 50506 54736 58966 63196 67426 71656
CAM Data[46](High) 42047 46277 50507 54737 58967 63197 67427 71657
CAM Data[47](Low) 42048 46278 50508 54738 58968 63198 67428 71658
CAM Data[47](High) 42049 46279 50509 54739 58969 63199 67429 71659
CAM Data[48](Low) 42050 46280 50510 54740 58970 63200 67430 71660
CAM Data[48](High) 42051 46281 50511 54741 58971 63201 67431 71661
CAM Data[49](Low) 42052 46282 50512 54742 58972 63202 67432 71662
CAM Data[49](High) 42053 46283 50513 54743 58973 63203 67433 71663
CAM Data[50](Low) 42054 46284 50514 54744 58974 63204 67434 71664
CAM Data[50](High) 42055 46285 50515 54745 58975 63205 67435 71665
CAM Data[51](Low) 42056 46286 50516 54746 58976 63206 67436 71666
CAM Data[51](High) 42057 46287 50517 54747 58977 63207 67437 71667
CAM Data[52](Low) 42058 46288 50518 54748 58978 63208 67438 71668
CAM Data[52](High) 42059 46289 50519 54749 58979 63209 67439 71669
CAM Data[53](Low) 42060 46290 50520 54750 58980 63210 67440 71670
CAM Data[53](High) 42061 46291 50521 54751 58981 63211 67441 71671
CAM Data[54](Low) 42062 46292 50522 54752 58982 63212 67442 71672
CAM Data[54](High) 42063 46293 50523 54753 58983 63213 67443 71673
CAM Data[55](Low) 42064 46294 50524 54754 58984 63214 67444 71674
CAM Data[55](High) 42065 46295 50525 54755 58985 63215 67445 71675
CAM Data[56](Low) 42066 46296 50526 54756 58986 63216 67446 71676
CAM Data[56](High) 42067 46297 50527 54757 58987 63217 67447 71677
CAM Data[57](Low) 42068 46298 50528 54758 58988 63218 67448 71678
CAM Data[57](High) 42069 46299 50529 54759 58989 63219 67449 71679
CAM Data[58](Low) 42070 46300 50530 54760 58990 63220 67450 71680
CAM Data[58](High) 42071 46301 50531 54761 58991 63221 67451 71681
CAM Data[59](Low) 42072 46302 50532 54762 58992 63222 67452 71682
CAM Data[59](High) 42073 46303 50533 54763 58993 63223 67453 71683
CAM Data[60](Low) 42074 46304 50534 54764 58994 63224 67454 71684
CAM Data[60](High) 42075 46305 50535 54765 58995 63225 67455 71685
CAM Data[61](Low) 42076 46306 50536 54766 58996 63226 67456 71686
CAM Data[61](High) 42077 46307 50537 54767 58997 63227 67457 71687
CAM Data[62](Low) 42078 46308 50538 54768 58998 63228 67458 71688

CAM Data[62](High) 42079 46309 50539 54769 58999 63229 67459 71689
CAM Data[63](Low) 42080 46310 50540 54770 59000 63230 67460 71690
CAM Data[63](High) 42081 46311 50541 54771 59001 63231 67461 71691
CAM Data[64](Low) 42082 46312 50542 54772 59002 63232 67462 71692
CAM Data[64](High) 42083 46313 50543 54773 59003 63233 67463 71693
CAM Data[65](Low) 42084 46314 50544 54774 59004 63234 67464 71694
CAM Data[65](High) 42085 46315 50545 54775 59005 63235 67465 71695
CAM Data[66](Low) 42086 46316 50546 54776 59006 63236 67466 71696
CAM Data[66](High) 42087 46317 50547 54777 59007 63237 67467 71697
CAM Data[67](Low) 42088 46318 50548 54778 59008 63238 67468 71698
CAM Data[67](High) 42089 46319 50549 54779 59009 63239 67469 71699
CAM Data[68](Low) 42090 46320 50550 54780 59010 63240 67470 71700
CAM Data[68](High) 42091 46321 50551 54781 59011 63241 67471 71701
CAM Data[69](Low) 42092 46322 50552 54782 59012 63242 67472 71702
CAM Data[69](High) 42093 46323 50553 54783 59013 63243 67473 71703
CAM Data[70](Low) 42094 46324 50554 54784 59014 63244 67474 71704
CAM Data[70](High) 42095 46325 50555 54785 59015 63245 67475 71705
CAM Data[71](Low) 42096 46326 50556 54786 59016 63246 67476 71706
CAM Data[71](High) 42097 46327 50557 54787 59017 63247 67477 71707
CAM Data[72](Low) 42098 46328 50558 54788 59018 63248 67478 71708
CAM Data[72](High) 42099 46329 50559 54789 59019 63249 67479 71709
CAM Data[73](Low) 42100 46330 50560 54790 59020 63250 67480 71710
CAM Data[73](High) 42101 46331 50561 54791 59021 63251 67481 71711
CAM Data[74](Low) 42102 46332 50562 54792 59022 63252 67482 71712
CAM Data[74](High) 42103 46333 50563 54793 59023 63253 67483 71713
CAM Data[75](Low) 42104 46334 50564 54794 59024 63254 67484 71714
CAM Data[75](High) 42105 46335 50565 54795 59025 63255 67485 71715
CAM Data[76](Low) 42106 46336 50566 54796 59026 63256 67486 71716
CAM Data[76](High) 42107 46337 50567 54797 59027 63257 67487 71717
CAM Data[77](Low) 42108 46338 50568 54798 59028 63258 67488 71718
CAM Data[77](High) 42109 46339 50569 54799 59029 63259 67489 71719
CAM Data[78](Low) 42110 46340 50570 54800 59030 63260 67490 71720
CAM Data[78](High) 42111 46341 50571 54801 59031 63261 67491 71721
CAM Data[79](Low) 42112 46342 50572 54802 59032 63262 67492 71722
CAM Data[79](High) 42113 46343 50573 54803 59033 63263 67493 71723
CAM Data[80](Low) 42114 46344 50574 54804 59034 63264 67494 71724
CAM Data[80](High) 42115 46345 50575 54805 59035 63265 67495 71725
CAM Data[81](Low) 42116 46346 50576 54806 59036 63266 67496 71726
CAM Data[81](High) 42117 46347 50577 54807 59037 63267 67497 71727
CAM Data[82](Low) 42118 46348 50578 54808 59038 63268 67498 71728
CAM Data[82](High) 42119 46349 50579 54809 59039 63269 67499 71729
CAM Data[83](Low) 42120 46350 50580 54810 59040 63270 67500 71730
CAM Data[83](High) 42121 46351 50581 54811 59041 63271 67501 71731
CAM Data[84](Low) 42122 46352 50582 54812 59042 63272 67502 71732
CAM Data[84](High) 42123 46353 50583 54813 59043 63273 67503 71733
CAM Data[85](Low) 42124 46354 50584 54814 59044 63274 67504 71734

CAM Data[85](High) 42125 46355 50585 54815 59045 63275 67505 71735
CAM Data[86](Low) 42126 46356 50586 54816 59046 63276 67506 71736
CAM Data[86](High) 42127 46357 50587 54817 59047 63277 67507 71737
CAM Data[87](Low) 42128 46358 50588 54818 59048 63278 67508 71738
CAM Data[87](High) 42129 46359 50589 54819 59049 63279 67509 71739
CAM Data[88](Low) 42130 46360 50590 54820 59050 63280 67510 71740
CAM Data[88](High) 42131 46361 50591 54821 59051 63281 67511 71741
CAM Data[89](Low) 42132 46362 50592 54822 59052 63282 67512 71742
CAM Data[89](High) 42133 46363 50593 54823 59053 63283 67513 71743
CAM Data[90](Low) 42134 46364 50594 54824 59054 63284 67514 71744
CAM Data[90](High) 42135 46365 50595 54825 59055 63285 67515 71745
CAM Data[91](Low) 42136 46366 50596 54826 59056 63286 67516 71746
CAM Data[91](High) 42137 46367 50597 54827 59057 63287 67517 71747
CAM Data[92](Low) 42138 46368 50598 54828 59058 63288 67518 71748
CAM Data[92](High) 42139 46369 50599 54829 59059 63289 67519 71749
CAM Data[93](Low) 42140 46370 50600 54830 59060 63290 67520 71750
CAM Data[93](High) 42141 46371 50601 54831 59061 63291 67521 71751
CAM Data[94](Low) 42142 46372 50602 54832 59062 63292 67522 71752
CAM Data[94](High) 42143 46373 50603 54833 59063 63293 67523 71753
CAM Data[95](Low) 42144 46374 50604 54834 59064 63294 67524 71754
CAM Data[95](High) 42145 46375 50605 54835 59065 63295 67525 71755
CAM Data[96](Low) 42146 46376 50606 54836 59066 63296 67526 71756
CAM Data[96](High) 42147 46377 50607 54837 59067 63297 67527 71757
CAM Data[97](Low) 42148 46378 50608 54838 59068 63298 67528 71758
CAM Data[97](High) 42149 46379 50609 54839 59069 63299 67529 71759
CAM Data[98](Low) 42150 46380 50610 54840 59070 63300 67530 71760
CAM Data[98](High) 42151 46381 50611 54841 59071 63301 67531 71761
CAM Data[99](Low) 42152 46382 50612 54842 59072 63302 67532 71762
CAM Data[99](High) 42153 46383 50613 54843 59073 63303 67533 71763
CAM Data[100](Low) 42154 46384 50614 54844 59074 63304 67534 71764
CAM Data[100](High) 42155 46385 50615 54845 59075 63305 67535 71765
CAM Data[101](Low) 42156 46386 50616 54846 59076 63306 67536 71766
CAM Data[101](High) 42157 46387 50617 54847 59077 63307 67537 71767
CAM Data[102](Low) 42158 46388 50618 54848 59078 63308 67538 71768
CAM Data[102](High) 42159 46389 50619 54849 59079 63309 67539 71769
CAM Data[103](Low) 42160 46390 50620 54850 59080 63310 67540 71770
CAM Data[103](High) 42161 46391 50621 54851 59081 63311 67541 71771
CAM Data[104](Low) 42162 46392 50622 54852 59082 63312 67542 71772
CAM Data[104](High) 42163 46393 50623 54853 59083 63313 67543 71773
CAM Data[105](Low) 42164 46394 50624 54854 59084 63314 67544 71774
CAM Data[105](High) 42165 46395 50625 54855 59085 63315 67545 71775
CAM Data[106](Low) 42166 46396 50626 54856 59086 63316 67546 71776
CAM Data[106](High) 42167 46397 50627 54857 59087 63317 67547 71777
CAM Data[107](Low) 42168 46398 50628 54858 59088 63318 67548 71778
CAM Data[107](High) 42169 46399 50629 54859 59089 63319 67549 71779
CAM Data[108](Low) 42170 46400 50630 54860 59090 63320 67550 71780

CAM Data[108](High) 42171 46401 50631 54861 59091 63321 67551 71781
CAM Data[109](Low) 42172 46402 50632 54862 59092 63322 67552 71782
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CAM Data[715](High) 43385 47615 51845 56075 60305 64535 68765 72995
CAM Data[716](Low) 43386 47616 51846 56076 60306 64536 68766 72996
CAM Data[716](High) 43387 47617 51847 56077 60307 64537 68767 72997
CAM Data[717](Low) 43388 47618 51848 56078 60308 64538 68768 72998
CAM Data[717](High) 43389 47619 51849 56079 60309 64539 68769 72999
CAM Data[718](Low) 43390 47620 51850 56080 60310 64540 68770 73000
CAM Data[718](High) 43391 47621 51851 56081 60311 64541 68771 73001
CAM Data[719](Low) 43392 47622 51852 56082 60312 64542 68772 73002
CAM Data[719](High) 43393 47623 51853 56083 60313 64543 68773 73003
CAM Data[720](Low) 43394 47624 51854 56084 60314 64544 68774 73004
CAM Data[720](High) 43395 47625 51855 56085 60315 64545 68775 73005
CAM Data[721](Low) 43396 47626 51856 56086 60316 64546 68776 73006
CAM Data[721](High) 43397 47627 51857 56087 60317 64547 68777 73007
CAM Data[722](Low) 43398 47628 51858 56088 60318 64548 68778 73008
CAM Data[722](High) 43399 47629 51859 56089 60319 64549 68779 73009
CAM Data[723](Low) 43400 47630 51860 56090 60320 64550 68780 73010
CAM Data[723](High) 43401 47631 51861 56091 60321 64551 68781 73011
CAM Data[724](Low) 43402 47632 51862 56092 60322 64552 68782 73012
CAM Data[724](High) 43403 47633 51863 56093 60323 64553 68783 73013
CAM Data[725](Low) 43404 47634 51864 56094 60324 64554 68784 73014
CAM Data[725](High) 43405 47635 51865 56095 60325 64555 68785 73015
CAM Data[726](Low) 43406 47636 51866 56096 60326 64556 68786 73016
CAM Data[726](High) 43407 47637 51867 56097 60327 64557 68787 73017
CAM Data[727](Low) 43408 47638 51868 56098 60328 64558 68788 73018
CAM Data[727](High) 43409 47639 51869 56099 60329 64559 68789 73019
CAM Data[728](Low) 43410 47640 51870 56100 60330 64560 68790 73020
CAM Data[728](High) 43411 47641 51871 56101 60331 64561 68791 73021
CAM Data[729](Low) 43412 47642 51872 56102 60332 64562 68792 73022

CAM Data[729](High) 43413 47643 51873 56103 60333 64563 68793 73023
CAM Data[730](Low) 43414 47644 51874 56104 60334 64564 68794 73024
CAM Data[730](High) 43415 47645 51875 56105 60335 64565 68795 73025
CAM Data[731](Low) 43416 47646 51876 56106 60336 64566 68796 73026
CAM Data[731](High) 43417 47647 51877 56107 60337 64567 68797 73027
CAM Data[732](Low) 43418 47648 51878 56108 60338 64568 68798 73028
CAM Data[732](High) 43419 47649 51879 56109 60339 64569 68799 73029
CAM Data[733](Low) 43420 47650 51880 56110 60340 64570 68800 73030
CAM Data[733](High) 43421 47651 51881 56111 60341 64571 68801 73031
CAM Data[734](Low) 43422 47652 51882 56112 60342 64572 68802 73032
CAM Data[734](High) 43423 47653 51883 56113 60343 64573 68803 73033
CAM Data[735](Low) 43424 47654 51884 56114 60344 64574 68804 73034
CAM Data[735](High) 43425 47655 51885 56115 60345 64575 68805 73035
CAM Data[736](Low) 43426 47656 51886 56116 60346 64576 68806 73036
CAM Data[736](High) 43427 47657 51887 56117 60347 64577 68807 73037
CAM Data[737](Low) 43428 47658 51888 56118 60348 64578 68808 73038
CAM Data[737](High) 43429 47659 51889 56119 60349 64579 68809 73039
CAM Data[738](Low) 43430 47660 51890 56120 60350 64580 68810 73040
CAM Data[738](High) 43431 47661 51891 56121 60351 64581 68811 73041
CAM Data[739](Low) 43432 47662 51892 56122 60352 64582 68812 73042
CAM Data[739](High) 43433 47663 51893 56123 60353 64583 68813 73043
CAM Data[740](Low) 43434 47664 51894 56124 60354 64584 68814 73044
CAM Data[740](High) 43435 47665 51895 56125 60355 64585 68815 73045
CAM Data[741](Low) 43436 47666 51896 56126 60356 64586 68816 73046
CAM Data[741](High) 43437 47667 51897 56127 60357 64587 68817 73047
CAM Data[742](Low) 43438 47668 51898 56128 60358 64588 68818 73048
CAM Data[742](High) 43439 47669 51899 56129 60359 64589 68819 73049
CAM Data[743](Low) 43440 47670 51900 56130 60360 64590 68820 73050
CAM Data[743](High) 43441 47671 51901 56131 60361 64591 68821 73051
CAM Data[744](Low) 43442 47672 51902 56132 60362 64592 68822 73052
CAM Data[744](High) 43443 47673 51903 56133 60363 64593 68823 73053
CAM Data[745](Low) 43444 47674 51904 56134 60364 64594 68824 73054
CAM Data[745](High) 43445 47675 51905 56135 60365 64595 68825 73055
CAM Data[746](Low) 43446 47676 51906 56136 60366 64596 68826 73056
CAM Data[746](High) 43447 47677 51907 56137 60367 64597 68827 73057
CAM Data[747](Low) 43448 47678 51908 56138 60368 64598 68828 73058
CAM Data[747](High) 43449 47679 51909 56139 60369 64599 68829 73059
CAM Data[748](Low) 43450 47680 51910 56140 60370 64600 68830 73060
CAM Data[748](High) 43451 47681 51911 56141 60371 64601 68831 73061
CAM Data[749](Low) 43452 47682 51912 56142 60372 64602 68832 73062
CAM Data[749](High) 43453 47683 51913 56143 60373 64603 68833 73063
CAM Data[750](Low) 43454 47684 51914 56144 60374 64604 68834 73064
CAM Data[750](High) 43455 47685 51915 56145 60375 64605 68835 73065
CAM Data[751](Low) 43456 47686 51916 56146 60376 64606 68836 73066
CAM Data[751](High) 43457 47687 51917 56147 60377 64607 68837 73067
CAM Data[752](Low) 43458 47688 51918 56148 60378 64608 68838 73068

CAM Data[752](High) 43459 47689 51919 56149 60379 64609 68839 73069
CAM Data[753](Low) 43460 47690 51920 56150 60380 64610 68840 73070
CAM Data[753](High) 43461 47691 51921 56151 60381 64611 68841 73071
CAM Data[754](Low) 43462 47692 51922 56152 60382 64612 68842 73072
CAM Data[754](High) 43463 47693 51923 56153 60383 64613 68843 73073
CAM Data[755](Low) 43464 47694 51924 56154 60384 64614 68844 73074
CAM Data[755](High) 43465 47695 51925 56155 60385 64615 68845 73075
CAM Data[756](Low) 43466 47696 51926 56156 60386 64616 68846 73076
CAM Data[756](High) 43467 47697 51927 56157 60387 64617 68847 73077
CAM Data[757](Low) 43468 47698 51928 56158 60388 64618 68848 73078
CAM Data[757](High) 43469 47699 51929 56159 60389 64619 68849 73079
CAM Data[758](Low) 43470 47700 51930 56160 60390 64620 68850 73080
CAM Data[758](High) 43471 47701 51931 56161 60391 64621 68851 73081
CAM Data[759](Low) 43472 47702 51932 56162 60392 64622 68852 73082
CAM Data[759](High) 43473 47703 51933 56163 60393 64623 68853 73083
CAM Data[760](Low) 43474 47704 51934 56164 60394 64624 68854 73084
CAM Data[760](High) 43475 47705 51935 56165 60395 64625 68855 73085
CAM Data[761](Low) 43476 47706 51936 56166 60396 64626 68856 73086
CAM Data[761](High) 43477 47707 51937 56167 60397 64627 68857 73087
CAM Data[762](Low) 43478 47708 51938 56168 60398 64628 68858 73088
CAM Data[762](High) 43479 47709 51939 56169 60399 64629 68859 73089
CAM Data[763](Low) 43480 47710 51940 56170 60400 64630 68860 73090
CAM Data[763](High) 43481 47711 51941 56171 60401 64631 68861 73091
CAM Data[764](Low) 43482 47712 51942 56172 60402 64632 68862 73092
CAM Data[764](High) 43483 47713 51943 56173 60403 64633 68863 73093
CAM Data[765](Low) 43484 47714 51944 56174 60404 64634 68864 73094
CAM Data[765](High) 43485 47715 51945 56175 60405 64635 68865 73095
CAM Data[766](Low) 43486 47716 51946 56176 60406 64636 68866 73096
CAM Data[766](High) 43487 47717 51947 56177 60407 64637 68867 73097
CAM Data[767](Low) 43488 47718 51948 56178 60408 64638 68868 73098
CAM Data[767](High) 43489 47719 51949 56179 60409 64639 68869 73099
CAM Data[768](Low) 43490 47720 51950 56180 60410 64640 68870 73100
CAM Data[768](High) 43491 47721 51951 56181 60411 64641 68871 73101
CAM Data[769](Low) 43492 47722 51952 56182 60412 64642 68872 73102
CAM Data[769](High) 43493 47723 51953 56183 60413 64643 68873 73103
CAM Data[770](Low) 43494 47724 51954 56184 60414 64644 68874 73104
CAM Data[770](High) 43495 47725 51955 56185 60415 64645 68875 73105
CAM Data[771](Low) 43496 47726 51956 56186 60416 64646 68876 73106
CAM Data[771](High) 43497 47727 51957 56187 60417 64647 68877 73107
CAM Data[772](Low) 43498 47728 51958 56188 60418 64648 68878 73108
CAM Data[772](High) 43499 47729 51959 56189 60419 64649 68879 73109
CAM Data[773](Low) 43500 47730 51960 56190 60420 64650 68880 73110
CAM Data[773](High) 43501 47731 51961 56191 60421 64651 68881 73111
CAM Data[774](Low) 43502 47732 51962 56192 60422 64652 68882 73112
CAM Data[774](High) 43503 47733 51963 56193 60423 64653 68883 73113
CAM Data[775](Low) 43504 47734 51964 56194 60424 64654 68884 73114

CAM Data[775](High) 43505 47735 51965 56195 60425 64655 68885 73115
CAM Data[776](Low) 43506 47736 51966 56196 60426 64656 68886 73116
CAM Data[776](High) 43507 47737 51967 56197 60427 64657 68887 73117
CAM Data[777](Low) 43508 47738 51968 56198 60428 64658 68888 73118
CAM Data[777](High) 43509 47739 51969 56199 60429 64659 68889 73119
CAM Data[778](Low) 43510 47740 51970 56200 60430 64660 68890 73120
CAM Data[778](High) 43511 47741 51971 56201 60431 64661 68891 73121
CAM Data[779](Low) 43512 47742 51972 56202 60432 64662 68892 73122
CAM Data[779](High) 43513 47743 51973 56203 60433 64663 68893 73123
CAM Data[780](Low) 43514 47744 51974 56204 60434 64664 68894 73124
CAM Data[780](High) 43515 47745 51975 56205 60435 64665 68895 73125
CAM Data[781](Low) 43516 47746 51976 56206 60436 64666 68896 73126
CAM Data[781](High) 43517 47747 51977 56207 60437 64667 68897 73127
CAM Data[782](Low) 43518 47748 51978 56208 60438 64668 68898 73128
CAM Data[782](High) 43519 47749 51979 56209 60439 64669 68899 73129
CAM Data[783](Low) 43520 47750 51980 56210 60440 64670 68900 73130
CAM Data[783](High) 43521 47751 51981 56211 60441 64671 68901 73131
CAM Data[784](Low) 43522 47752 51982 56212 60442 64672 68902 73132
CAM Data[784](High) 43523 47753 51983 56213 60443 64673 68903 73133
CAM Data[785](Low) 43524 47754 51984 56214 60444 64674 68904 73134
CAM Data[785](High) 43525 47755 51985 56215 60445 64675 68905 73135
CAM Data[786](Low) 43526 47756 51986 56216 60446 64676 68906 73136
CAM Data[786](High) 43527 47757 51987 56217 60447 64677 68907 73137
CAM Data[787](Low) 43528 47758 51988 56218 60448 64678 68908 73138
CAM Data[787](High) 43529 47759 51989 56219 60449 64679 68909 73139
CAM Data[788](Low) 43530 47760 51990 56220 60450 64680 68910 73140
CAM Data[788](High) 43531 47761 51991 56221 60451 64681 68911 73141
CAM Data[789](Low) 43532 47762 51992 56222 60452 64682 68912 73142
CAM Data[789](High) 43533 47763 51993 56223 60453 64683 68913 73143
CAM Data[790](Low) 43534 47764 51994 56224 60454 64684 68914 73144
CAM Data[790](High) 43535 47765 51995 56225 60455 64685 68915 73145
CAM Data[791](Low) 43536 47766 51996 56226 60456 64686 68916 73146
CAM Data[791](High) 43537 47767 51997 56227 60457 64687 68917 73147
CAM Data[792](Low) 43538 47768 51998 56228 60458 64688 68918 73148
CAM Data[792](High) 43539 47769 51999 56229 60459 64689 68919 73149
CAM Data[793](Low) 43540 47770 52000 56230 60460 64690 68920 73150
CAM Data[793](High) 43541 47771 52001 56231 60461 64691 68921 73151
CAM Data[794](Low) 43542 47772 52002 56232 60462 64692 68922 73152
CAM Data[794](High) 43543 47773 52003 56233 60463 64693 68923 73153
CAM Data[795](Low) 43544 47774 52004 56234 60464 64694 68924 73154
CAM Data[795](High) 43545 47775 52005 56235 60465 64695 68925 73155
CAM Data[796](Low) 43546 47776 52006 56236 60466 64696 68926 73156
CAM Data[796](High) 43547 47777 52007 56237 60467 64697 68927 73157
CAM Data[797](Low) 43548 47778 52008 56238 60468 64698 68928 73158
CAM Data[797](High) 43549 47779 52009 56239 60469 64699 68929 73159
CAM Data[798](Low) 43550 47780 52010 56240 60470 64700 68930 73160

CAM Data[798](High) 43551 47781 52011 56241 60471 64701 68931 73161
CAM Data[799](Low) 43552 47782 52012 56242 60472 64702 68932 73162
CAM Data[799](High) 43553 47783 52013 56243 60473 64703 68933 73163
CAM Data[800](Low) 43554 47784 52014 56244 60474 64704 68934 73164
CAM Data[800](High) 43555 47785 52015 56245 60475 64705 68935 73165
CAM Data[801](Low) 43556 47786 52016 56246 60476 64706 68936 73166
CAM Data[801](High) 43557 47787 52017 56247 60477 64707 68937 73167
CAM Data[802](Low) 43558 47788 52018 56248 60478 64708 68938 73168
CAM Data[802](High) 43559 47789 52019 56249 60479 64709 68939 73169
CAM Data[803](Low) 43560 47790 52020 56250 60480 64710 68940 73170
CAM Data[803](High) 43561 47791 52021 56251 60481 64711 68941 73171
CAM Data[804](Low) 43562 47792 52022 56252 60482 64712 68942 73172
CAM Data[804](High) 43563 47793 52023 56253 60483 64713 68943 73173
CAM Data[805](Low) 43564 47794 52024 56254 60484 64714 68944 73174
CAM Data[805](High) 43565 47795 52025 56255 60485 64715 68945 73175
CAM Data[806](Low) 43566 47796 52026 56256 60486 64716 68946 73176
CAM Data[806](High) 43567 47797 52027 56257 60487 64717 68947 73177
CAM Data[807](Low) 43568 47798 52028 56258 60488 64718 68948 73178
CAM Data[807](High) 43569 47799 52029 56259 60489 64719 68949 73179
CAM Data[808](Low) 43570 47800 52030 56260 60490 64720 68950 73180
CAM Data[808](High) 43571 47801 52031 56261 60491 64721 68951 73181
CAM Data[809](Low) 43572 47802 52032 56262 60492 64722 68952 73182
CAM Data[809](High) 43573 47803 52033 56263 60493 64723 68953 73183
CAM Data[810](Low) 43574 47804 52034 56264 60494 64724 68954 73184
CAM Data[810](High) 43575 47805 52035 56265 60495 64725 68955 73185
CAM Data[811](Low) 43576 47806 52036 56266 60496 64726 68956 73186
CAM Data[811](High) 43577 47807 52037 56267 60497 64727 68957 73187
CAM Data[812](Low) 43578 47808 52038 56268 60498 64728 68958 73188
CAM Data[812](High) 43579 47809 52039 56269 60499 64729 68959 73189
CAM Data[813](Low) 43580 47810 52040 56270 60500 64730 68960 73190
CAM Data[813](High) 43581 47811 52041 56271 60501 64731 68961 73191
CAM Data[814](Low) 43582 47812 52042 56272 60502 64732 68962 73192
CAM Data[814](High) 43583 47813 52043 56273 60503 64733 68963 73193
CAM Data[815](Low) 43584 47814 52044 56274 60504 64734 68964 73194
CAM Data[815](High) 43585 47815 52045 56275 60505 64735 68965 73195
CAM Data[816](Low) 43586 47816 52046 56276 60506 64736 68966 73196
CAM Data[816](High) 43587 47817 52047 56277 60507 64737 68967 73197
CAM Data[817](Low) 43588 47818 52048 56278 60508 64738 68968 73198
CAM Data[817](High) 43589 47819 52049 56279 60509 64739 68969 73199
CAM Data[818](Low) 43590 47820 52050 56280 60510 64740 68970 73200
CAM Data[818](High) 43591 47821 52051 56281 60511 64741 68971 73201
CAM Data[819](Low) 43592 47822 52052 56282 60512 64742 68972 73202
CAM Data[819](High) 43593 47823 52053 56283 60513 64743 68973 73203
CAM Data[820](Low) 43594 47824 52054 56284 60514 64744 68974 73204
CAM Data[820](High) 43595 47825 52055 56285 60515 64745 68975 73205
CAM Data[821](Low) 43596 47826 52056 56286 60516 64746 68976 73206

CAM Data[821](High) 43597 47827 52057 56287 60517 64747 68977 73207
CAM Data[822](Low) 43598 47828 52058 56288 60518 64748 68978 73208
CAM Data[822](High) 43599 47829 52059 56289 60519 64749 68979 73209
CAM Data[823](Low) 43600 47830 52060 56290 60520 64750 68980 73210
CAM Data[823](High) 43601 47831 52061 56291 60521 64751 68981 73211
CAM Data[824](Low) 43602 47832 52062 56292 60522 64752 68982 73212
CAM Data[824](High) 43603 47833 52063 56293 60523 64753 68983 73213
CAM Data[825](Low) 43604 47834 52064 56294 60524 64754 68984 73214
CAM Data[825](High) 43605 47835 52065 56295 60525 64755 68985 73215
CAM Data[826](Low) 43606 47836 52066 56296 60526 64756 68986 73216
CAM Data[826](High) 43607 47837 52067 56297 60527 64757 68987 73217
CAM Data[827](Low) 43608 47838 52068 56298 60528 64758 68988 73218
CAM Data[827](High) 43609 47839 52069 56299 60529 64759 68989 73219
CAM Data[828](Low) 43610 47840 52070 56300 60530 64760 68990 73220
CAM Data[828](High) 43611 47841 52071 56301 60531 64761 68991 73221
CAM Data[829](Low) 43612 47842 52072 56302 60532 64762 68992 73222
CAM Data[829](High) 43613 47843 52073 56303 60533 64763 68993 73223
CAM Data[830](Low) 43614 47844 52074 56304 60534 64764 68994 73224
CAM Data[830](High) 43615 47845 52075 56305 60535 64765 68995 73225
CAM Data[831](Low) 43616 47846 52076 56306 60536 64766 68996 73226
CAM Data[831](High) 43617 47847 52077 56307 60537 64767 68997 73227
CAM Data[832](Low) 43618 47848 52078 56308 60538 64768 68998 73228
CAM Data[832](High) 43619 47849 52079 56309 60539 64769 68999 73229
CAM Data[833](Low) 43620 47850 52080 56310 60540 64770 69000 73230
CAM Data[833](High) 43621 47851 52081 56311 60541 64771 69001 73231
CAM Data[834](Low) 43622 47852 52082 56312 60542 64772 69002 73232
CAM Data[834](High) 43623 47853 52083 56313 60543 64773 69003 73233
CAM Data[835](Low) 43624 47854 52084 56314 60544 64774 69004 73234
CAM Data[835](High) 43625 47855 52085 56315 60545 64775 69005 73235
CAM Data[836](Low) 43626 47856 52086 56316 60546 64776 69006 73236
CAM Data[836](High) 43627 47857 52087 56317 60547 64777 69007 73237
CAM Data[837](Low) 43628 47858 52088 56318 60548 64778 69008 73238
CAM Data[837](High) 43629 47859 52089 56319 60549 64779 69009 73239
CAM Data[838](Low) 43630 47860 52090 56320 60550 64780 69010 73240
CAM Data[838](High) 43631 47861 52091 56321 60551 64781 69011 73241
CAM Data[839](Low) 43632 47862 52092 56322 60552 64782 69012 73242
CAM Data[839](High) 43633 47863 52093 56323 60553 64783 69013 73243
CAM Data[840](Low) 43634 47864 52094 56324 60554 64784 69014 73244
CAM Data[840](High) 43635 47865 52095 56325 60555 64785 69015 73245
CAM Data[841](Low) 43636 47866 52096 56326 60556 64786 69016 73246
CAM Data[841](High) 43637 47867 52097 56327 60557 64787 69017 73247
CAM Data[842](Low) 43638 47868 52098 56328 60558 64788 69018 73248
CAM Data[842](High) 43639 47869 52099 56329 60559 64789 69019 73249
CAM Data[843](Low) 43640 47870 52100 56330 60560 64790 69020 73250
CAM Data[843](High) 43641 47871 52101 56331 60561 64791 69021 73251
CAM Data[844](Low) 43642 47872 52102 56332 60562 64792 69022 73252

CAM Data[844](High) 43643 47873 52103 56333 60563 64793 69023 73253
CAM Data[845](Low) 43644 47874 52104 56334 60564 64794 69024 73254
CAM Data[845](High) 43645 47875 52105 56335 60565 64795 69025 73255
CAM Data[846](Low) 43646 47876 52106 56336 60566 64796 69026 73256
CAM Data[846](High) 43647 47877 52107 56337 60567 64797 69027 73257
CAM Data[847](Low) 43648 47878 52108 56338 60568 64798 69028 73258
CAM Data[847](High) 43649 47879 52109 56339 60569 64799 69029 73259
CAM Data[848](Low) 43650 47880 52110 56340 60570 64800 69030 73260
CAM Data[848](High) 43651 47881 52111 56341 60571 64801 69031 73261
CAM Data[849](Low) 43652 47882 52112 56342 60572 64802 69032 73262
CAM Data[849](High) 43653 47883 52113 56343 60573 64803 69033 73263
CAM Data[850](Low) 43654 47884 52114 56344 60574 64804 69034 73264
CAM Data[850](High) 43655 47885 52115 56345 60575 64805 69035 73265
CAM Data[851](Low) 43656 47886 52116 56346 60576 64806 69036 73266
CAM Data[851](High) 43657 47887 52117 56347 60577 64807 69037 73267
CAM Data[852](Low) 43658 47888 52118 56348 60578 64808 69038 73268
CAM Data[852](High) 43659 47889 52119 56349 60579 64809 69039 73269
CAM Data[853](Low) 43660 47890 52120 56350 60580 64810 69040 73270
CAM Data[853](High) 43661 47891 52121 56351 60581 64811 69041 73271
CAM Data[854](Low) 43662 47892 52122 56352 60582 64812 69042 73272
CAM Data[854](High) 43663 47893 52123 56353 60583 64813 69043 73273
CAM Data[855](Low) 43664 47894 52124 56354 60584 64814 69044 73274
CAM Data[855](High) 43665 47895 52125 56355 60585 64815 69045 73275
CAM Data[856](Low) 43666 47896 52126 56356 60586 64816 69046 73276
CAM Data[856](High) 43667 47897 52127 56357 60587 64817 69047 73277
CAM Data[857](Low) 43668 47898 52128 56358 60588 64818 69048 73278
CAM Data[857](High) 43669 47899 52129 56359 60589 64819 69049 73279
CAM Data[858](Low) 43670 47900 52130 56360 60590 64820 69050 73280
CAM Data[858](High) 43671 47901 52131 56361 60591 64821 69051 73281
CAM Data[859](Low) 43672 47902 52132 56362 60592 64822 69052 73282
CAM Data[859](High) 43673 47903 52133 56363 60593 64823 69053 73283
CAM Data[860](Low) 43674 47904 52134 56364 60594 64824 69054 73284
CAM Data[860](High) 43675 47905 52135 56365 60595 64825 69055 73285
CAM Data[861](Low) 43676 47906 52136 56366 60596 64826 69056 73286
CAM Data[861](High) 43677 47907 52137 56367 60597 64827 69057 73287
CAM Data[862](Low) 43678 47908 52138 56368 60598 64828 69058 73288
CAM Data[862](High) 43679 47909 52139 56369 60599 64829 69059 73289
CAM Data[863](Low) 43680 47910 52140 56370 60600 64830 69060 73290
CAM Data[863](High) 43681 47911 52141 56371 60601 64831 69061 73291
CAM Data[864](Low) 43682 47912 52142 56372 60602 64832 69062 73292
CAM Data[864](High) 43683 47913 52143 56373 60603 64833 69063 73293
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CAM Data[1900](Low) 45754 49984 54214 58444 62674 66904 71134 75364
CAM Data[1900](High) 45755 49985 54215 58445 62675 66905 71135 75365
CAM Data[1901](Low) 45756 49986 54216 58446 62676 66906 71136 75366
CAM Data[1901](High) 45757 49987 54217 58447 62677 66907 71137 75367
CAM Data[1902](Low) 45758 49988 54218 58448 62678 66908 71138 75368

CAM Data[1902](High) 45759 49989 54219 58449 62679 66909 71139 75369
CAM Data[1903](Low) 45760 49990 54220 58450 62680 66910 71140 75370
CAM Data[1903](High) 45761 49991 54221 58451 62681 66911 71141 75371
CAM Data[1904](Low) 45762 49992 54222 58452 62682 66912 71142 75372
CAM Data[1904](High) 45763 49993 54223 58453 62683 66913 71143 75373
CAM Data[1905](Low) 45764 49994 54224 58454 62684 66914 71144 75374
CAM Data[1905](High) 45765 49995 54225 58455 62685 66915 71145 75375
CAM Data[1906](Low) 45766 49996 54226 58456 62686 66916 71146 75376
CAM Data[1906](High) 45767 49997 54227 58457 62687 66917 71147 75377
CAM Data[1907](Low) 45768 49998 54228 58458 62688 66918 71148 75378
CAM Data[1907](High) 45769 49999 54229 58459 62689 66919 71149 75379
CAM Data[1908](Low) 45770 50000 54230 58460 62690 66920 71150 75380
CAM Data[1908](High) 45771 50001 54231 58461 62691 66921 71151 75381
CAM Data[1909](Low) 45772 50002 54232 58462 62692 66922 71152 75382
CAM Data[1909](High) 45773 50003 54233 58463 62693 66923 71153 75383
CAM Data[1910](Low) 45774 50004 54234 58464 62694 66924 71154 75384
CAM Data[1910](High) 45775 50005 54235 58465 62695 66925 71155 75385
CAM Data[1911](Low) 45776 50006 54236 58466 62696 66926 71156 75386
CAM Data[1911](High) 45777 50007 54237 58467 62697 66927 71157 75387
CAM Data[1912](Low) 45778 50008 54238 58468 62698 66928 71158 75388
CAM Data[1912](High) 45779 50009 54239 58469 62699 66929 71159 75389
CAM Data[1913](Low) 45780 50010 54240 58470 62700 66930 71160 75390
CAM Data[1913](High) 45781 50011 54241 58471 62701 66931 71161 75391
CAM Data[1914](Low) 45782 50012 54242 58472 62702 66932 71162 75392
CAM Data[1914](High) 45783 50013 54243 58473 62703 66933 71163 75393
CAM Data[1915](Low) 45784 50014 54244 58474 62704 66934 71164 75394
CAM Data[1915](High) 45785 50015 54245 58475 62705 66935 71165 75395
CAM Data[1916](Low) 45786 50016 54246 58476 62706 66936 71166 75396
CAM Data[1916](High) 45787 50017 54247 58477 62707 66937 71167 75397
CAM Data[1917](Low) 45788 50018 54248 58478 62708 66938 71168 75398
CAM Data[1917](High) 45789 50019 54249 58479 62709 66939 71169 75399
CAM Data[1918](Low) 45790 50020 54250 58480 62710 66940 71170 75400
CAM Data[1918](High) 45791 50021 54251 58481 62711 66941 71171 75401
CAM Data[1919](Low) 45792 50022 54252 58482 62712 66942 71172 75402
CAM Data[1919](High) 45793 50023 54253 58483 62713 66943 71173 75403
CAM Data[1920](Low) 45794 50024 54254 58484 62714 66944 71174 75404
CAM Data[1920](High) 45795 50025 54255 58485 62715 66945 71175 75405
CAM Data[1921](Low) 45796 50026 54256 58486 62716 66946 71176 75406
CAM Data[1921](High) 45797 50027 54257 58487 62717 66947 71177 75407
CAM Data[1922](Low) 45798 50028 54258 58488 62718 66948 71178 75408
CAM Data[1922](High) 45799 50029 54259 58489 62719 66949 71179 75409
CAM Data[1923](Low) 45800 50030 54260 58490 62720 66950 71180 75410
CAM Data[1923](High) 45801 50031 54261 58491 62721 66951 71181 75411
CAM Data[1924](Low) 45802 50032 54262 58492 62722 66952 71182 75412
CAM Data[1924](High) 45803 50033 54263 58493 62723 66953 71183 75413
CAM Data[1925](Low) 45804 50034 54264 58494 62724 66954 71184 75414

CAM Data[1925](High) 45805 50035 54265 58495 62725 66955 71185 75415
CAM Data[1926](Low) 45806 50036 54266 58496 62726 66956 71186 75416
CAM Data[1926](High) 45807 50037 54267 58497 62727 66957 71187 75417
CAM Data[1927](Low) 45808 50038 54268 58498 62728 66958 71188 75418
CAM Data[1927](High) 45809 50039 54269 58499 62729 66959 71189 75419
CAM Data[1928](Low) 45810 50040 54270 58500 62730 66960 71190 75420
CAM Data[1928](High) 45811 50041 54271 58501 62731 66961 71191 75421
CAM Data[1929](Low) 45812 50042 54272 58502 62732 66962 71192 75422
CAM Data[1929](High) 45813 50043 54273 58503 62733 66963 71193 75423
CAM Data[1930](Low) 45814 50044 54274 58504 62734 66964 71194 75424
CAM Data[1930](High) 45815 50045 54275 58505 62735 66965 71195 75425
CAM Data[1931](Low) 45816 50046 54276 58506 62736 66966 71196 75426
CAM Data[1931](High) 45817 50047 54277 58507 62737 66967 71197 75427
CAM Data[1932](Low) 45818 50048 54278 58508 62738 66968 71198 75428
CAM Data[1932](High) 45819 50049 54279 58509 62739 66969 71199 75429
CAM Data[1933](Low) 45820 50050 54280 58510 62740 66970 71200 75430
CAM Data[1933](High) 45821 50051 54281 58511 62741 66971 71201 75431
CAM Data[1934](Low) 45822 50052 54282 58512 62742 66972 71202 75432
CAM Data[1934](High) 45823 50053 54283 58513 62743 66973 71203 75433
CAM Data[1935](Low) 45824 50054 54284 58514 62744 66974 71204 75434
CAM Data[1935](High) 45825 50055 54285 58515 62745 66975 71205 75435
CAM Data[1936](Low) 45826 50056 54286 58516 62746 66976 71206 75436
CAM Data[1936](High) 45827 50057 54287 58517 62747 66977 71207 75437
CAM Data[1937](Low) 45828 50058 54288 58518 62748 66978 71208 75438
CAM Data[1937](High) 45829 50059 54289 58519 62749 66979 71209 75439
CAM Data[1938](Low) 45830 50060 54290 58520 62750 66980 71210 75440
CAM Data[1938](High) 45831 50061 54291 58521 62751 66981 71211 75441
CAM Data[1939](Low) 45832 50062 54292 58522 62752 66982 71212 75442
CAM Data[1939](High) 45833 50063 54293 58523 62753 66983 71213 75443
CAM Data[1940](Low) 45834 50064 54294 58524 62754 66984 71214 75444
CAM Data[1940](High) 45835 50065 54295 58525 62755 66985 71215 75445
CAM Data[1941](Low) 45836 50066 54296 58526 62756 66986 71216 75446
CAM Data[1941](High) 45837 50067 54297 58527 62757 66987 71217 75447
CAM Data[1942](Low) 45838 50068 54298 58528 62758 66988 71218 75448
CAM Data[1942](High) 45839 50069 54299 58529 62759 66989 71219 75449
CAM Data[1943](Low) 45840 50070 54300 58530 62760 66990 71220 75450
CAM Data[1943](High) 45841 50071 54301 58531 62761 66991 71221 75451
CAM Data[1944](Low) 45842 50072 54302 58532 62762 66992 71222 75452
CAM Data[1944](High) 45843 50073 54303 58533 62763 66993 71223 75453
CAM Data[1945](Low) 45844 50074 54304 58534 62764 66994 71224 75454
CAM Data[1945](High) 45845 50075 54305 58535 62765 66995 71225 75455
CAM Data[1946](Low) 45846 50076 54306 58536 62766 66996 71226 75456
CAM Data[1946](High) 45847 50077 54307 58537 62767 66997 71227 75457
CAM Data[1947](Low) 45848 50078 54308 58538 62768 66998 71228 75458
CAM Data[1947](High) 45849 50079 54309 58539 62769 66999 71229 75459
CAM Data[1948](Low) 45850 50080 54310 58540 62770 67000 71230 75460

CAM Data[1948](High) 45851 50081 54311 58541 62771 67001 71231 75461
CAM Data[1949](Low) 45852 50082 54312 58542 62772 67002 71232 75462
CAM Data[1949](High) 45853 50083 54313 58543 62773 67003 71233 75463
CAM Data[1950](Low) 45854 50084 54314 58544 62774 67004 71234 75464
CAM Data[1950](High) 45855 50085 54315 58545 62775 67005 71235 75465
CAM Data[1951](Low) 45856 50086 54316 58546 62776 67006 71236 75466
CAM Data[1951](High) 45857 50087 54317 58547 62777 67007 71237 75467
CAM Data[1952](Low) 45858 50088 54318 58548 62778 67008 71238 75468
CAM Data[1952](High) 45859 50089 54319 58549 62779 67009 71239 75469
CAM Data[1953](Low) 45860 50090 54320 58550 62780 67010 71240 75470
CAM Data[1953](High) 45861 50091 54321 58551 62781 67011 71241 75471
CAM Data[1954](Low) 45862 50092 54322 58552 62782 67012 71242 75472
CAM Data[1954](High) 45863 50093 54323 58553 62783 67013 71243 75473
CAM Data[1955](Low) 45864 50094 54324 58554 62784 67014 71244 75474
CAM Data[1955](High) 45865 50095 54325 58555 62785 67015 71245 75475
CAM Data[1956](Low) 45866 50096 54326 58556 62786 67016 71246 75476
CAM Data[1956](High) 45867 50097 54327 58557 62787 67017 71247 75477
CAM Data[1957](Low) 45868 50098 54328 58558 62788 67018 71248 75478
CAM Data[1957](High) 45869 50099 54329 58559 62789 67019 71249 75479
CAM Data[1958](Low) 45870 50100 54330 58560 62790 67020 71250 75480
CAM Data[1958](High) 45871 50101 54331 58561 62791 67021 71251 75481
CAM Data[1959](Low) 45872 50102 54332 58562 62792 67022 71252 75482
CAM Data[1959](High) 45873 50103 54333 58563 62793 67023 71253 75483
CAM Data[1960](Low) 45874 50104 54334 58564 62794 67024 71254 75484
CAM Data[1960](High) 45875 50105 54335 58565 62795 67025 71255 75485
CAM Data[1961](Low) 45876 50106 54336 58566 62796 67026 71256 75486
CAM Data[1961](High) 45877 50107 54337 58567 62797 67027 71257 75487
CAM Data[1962](Low) 45878 50108 54338 58568 62798 67028 71258 75488
CAM Data[1962](High) 45879 50109 54339 58569 62799 67029 71259 75489
CAM Data[1963](Low) 45880 50110 54340 58570 62800 67030 71260 75490
CAM Data[1963](High) 45881 50111 54341 58571 62801 67031 71261 75491
CAM Data[1964](Low) 45882 50112 54342 58572 62802 67032 71262 75492
CAM Data[1964](High) 45883 50113 54343 58573 62803 67033 71263 75493
CAM Data[1965](Low) 45884 50114 54344 58574 62804 67034 71264 75494
CAM Data[1965](High) 45885 50115 54345 58575 62805 67035 71265 75495
CAM Data[1966](Low) 45886 50116 54346 58576 62806 67036 71266 75496
CAM Data[1966](High) 45887 50117 54347 58577 62807 67037 71267 75497
CAM Data[1967](Low) 45888 50118 54348 58578 62808 67038 71268 75498
CAM Data[1967](High) 45889 50119 54349 58579 62809 67039 71269 75499
CAM Data[1968](Low) 45890 50120 54350 58580 62810 67040 71270 75500
CAM Data[1968](High) 45891 50121 54351 58581 62811 67041 71271 75501
CAM Data[1969](Low) 45892 50122 54352 58582 62812 67042 71272 75502
CAM Data[1969](High) 45893 50123 54353 58583 62813 67043 71273 75503
CAM Data[1970](Low) 45894 50124 54354 58584 62814 67044 71274 75504
CAM Data[1970](High) 45895 50125 54355 58585 62815 67045 71275 75505
CAM Data[1971](Low) 45896 50126 54356 58586 62816 67046 71276 75506

CAM Data[1971](High) 45897 50127 54357 58587 62817 67047 71277 75507
CAM Data[1972](Low) 45898 50128 54358 58588 62818 67048 71278 75508
CAM Data[1972](High) 45899 50129 54359 58589 62819 67049 71279 75509
CAM Data[1973](Low) 45900 50130 54360 58590 62820 67050 71280 75510
CAM Data[1973](High) 45901 50131 54361 58591 62821 67051 71281 75511
CAM Data[1974](Low) 45902 50132 54362 58592 62822 67052 71282 75512
CAM Data[1974](High) 45903 50133 54363 58593 62823 67053 71283 75513
CAM Data[1975](Low) 45904 50134 54364 58594 62824 67054 71284 75514
CAM Data[1975](High) 45905 50135 54365 58595 62825 67055 71285 75515
CAM Data[1976](Low) 45906 50136 54366 58596 62826 67056 71286 75516
CAM Data[1976](High) 45907 50137 54367 58597 62827 67057 71287 75517
CAM Data[1977](Low) 45908 50138 54368 58598 62828 67058 71288 75518
CAM Data[1977](High) 45909 50139 54369 58599 62829 67059 71289 75519
CAM Data[1978](Low) 45910 50140 54370 58600 62830 67060 71290 75520
CAM Data[1978](High) 45911 50141 54371 58601 62831 67061 71291 75521
CAM Data[1979](Low) 45912 50142 54372 58602 62832 67062 71292 75522
CAM Data[1979](High) 45913 50143 54373 58603 62833 67063 71293 75523
CAM Data[1980](Low) 45914 50144 54374 58604 62834 67064 71294 75524
CAM Data[1980](High) 45915 50145 54375 58605 62835 67065 71295 75525
CAM Data[1981](Low) 45916 50146 54376 58606 62836 67066 71296 75526
CAM Data[1981](High) 45917 50147 54377 58607 62837 67067 71297 75527
CAM Data[1982](Low) 45918 50148 54378 58608 62838 67068 71298 75528
CAM Data[1982](High) 45919 50149 54379 58609 62839 67069 71299 75529
CAM Data[1983](Low) 45920 50150 54380 58610 62840 67070 71300 75530
CAM Data[1983](High) 45921 50151 54381 58611 62841 67071 71301 75531
CAM Data[1984](Low) 45922 50152 54382 58612 62842 67072 71302 75532
CAM Data[1984](High) 45923 50153 54383 58613 62843 67073 71303 75533
CAM Data[1985](Low) 45924 50154 54384 58614 62844 67074 71304 75534
CAM Data[1985](High) 45925 50155 54385 58615 62845 67075 71305 75535
CAM Data[1986](Low) 45926 50156 54386 58616 62846 67076 71306 75536
CAM Data[1986](High) 45927 50157 54387 58617 62847 67077 71307 75537
CAM Data[1987](Low) 45928 50158 54388 58618 62848 67078 71308 75538
CAM Data[1987](High) 45929 50159 54389 58619 62849 67079 71309 75539
CAM Data[1988](Low) 45930 50160 54390 58620 62850 67080 71310 75540
CAM Data[1988](High) 45931 50161 54391 58621 62851 67081 71311 75541
CAM Data[1989](Low) 45932 50162 54392 58622 62852 67082 71312 75542
CAM Data[1989](High) 45933 50163 54393 58623 62853 67083 71313 75543
CAM Data[1990](Low) 45934 50164 54394 58624 62854 67084 71314 75544
CAM Data[1990](High) 45935 50165 54395 58625 62855 67085 71315 75545
CAM Data[1991](Low) 45936 50166 54396 58626 62856 67086 71316 75546
CAM Data[1991](High) 45937 50167 54397 58627 62857 67087 71317 75547
CAM Data[1992](Low) 45938 50168 54398 58628 62858 67088 71318 75548
CAM Data[1992](High) 45939 50169 54399 58629 62859 67089 71319 75549
CAM Data[1993](Low) 45940 50170 54400 58630 62860 67090 71320 75550
CAM Data[1993](High) 45941 50171 54401 58631 62861 67091 71321 75551
CAM Data[1994](Low) 45942 50172 54402 58632 62862 67092 71322 75552

CAM Data[1994](High) 45943 50173 54403 58633 62863 67093 71323 75553
CAM Data[1995](Low) 45944 50174 54404 58634 62864 67094 71324 75554
CAM Data[1995](High) 45945 50175 54405 58635 62865 67095 71325 75555
CAM Data[1996](Low) 45946 50176 54406 58636 62866 67096 71326 75556
CAM Data[1996](High) 45947 50177 54407 58637 62867 67097 71327 75557
CAM Data[1997](Low) 45948 50178 54408 58638 62868 67098 71328 75558
CAM Data[1997](High) 45949 50179 54409 58639 62869 67099 71329 75559
CAM Data[1998](Low) 45950 50180 54410 58640 62870 67100 71330 75560
CAM Data[1998](High) 45951 50181 54411 58641 62871 67101 71331 75561
CAM Data[1999](Low) 45952 50182 54412 58642 62872 67102 71332 75562
CAM Data[1999](High) 45953 50183 54413 58643 62873 67103 71333 75563
CAM Data[2000](Low) 45954 50184 54414 58644 62874 67104 71334 75564
CAM Data[2000](High) 45955 50185 54415 58645 62875 67105 71335 75565
CAM Data[2001](Low) 45956 50186 54416 58646 62876 67106 71336 75566
CAM Data[2001](High) 45957 50187 54417 58647 62877 67107 71337 75567
CAM Data[2002](Low) 45958 50188 54418 58648 62878 67108 71338 75568
CAM Data[2002](High) 45959 50189 54419 58649 62879 67109 71339 75569
CAM Data[2003](Low) 45960 50190 54420 58650 62880 67110 71340 75570
CAM Data[2003](High) 45961 50191 54421 58651 62881 67111 71341 75571
CAM Data[2004](Low) 45962 50192 54422 58652 62882 67112 71342 75572
CAM Data[2004](High) 45963 50193 54423 58653 62883 67113 71343 75573
CAM Data[2005](Low) 45964 50194 54424 58654 62884 67114 71344 75574
CAM Data[2005](High) 45965 50195 54425 58655 62885 67115 71345 75575
CAM Data[2006](Low) 45966 50196 54426 58656 62886 67116 71346 75576
CAM Data[2006](High) 45967 50197 54427 58657 62887 67117 71347 75577
CAM Data[2007](Low) 45968 50198 54428 58658 62888 67118 71348 75578
CAM Data[2007](High) 45969 50199 54429 58659 62889 67119 71349 75579
CAM Data[2008](Low) 45970 50200 54430 58660 62890 67120 71350 75580
CAM Data[2008](High) 45971 50201 54431 58661 62891 67121 71351 75581
CAM Data[2009](Low) 45972 50202 54432 58662 62892 67122 71352 75582
CAM Data[2009](High) 45973 50203 54433 58663 62893 67123 71353 75583
CAM Data[2010](Low) 45974 50204 54434 58664 62894 67124 71354 75584
CAM Data[2010](High) 45975 50205 54435 58665 62895 67125 71355 75585
CAM Data[2011](Low) 45976 50206 54436 58666 62896 67126 71356 75586
CAM Data[2011](High) 45977 50207 54437 58667 62897 67127 71357 75587
CAM Data[2012](Low) 45978 50208 54438 58668 62898 67128 71358 75588
CAM Data[2012](High) 45979 50209 54439 58669 62899 67129 71359 75589
CAM Data[2013](Low) 45980 50210 54440 58670 62900 67130 71360 75590
CAM Data[2013](High) 45981 50211 54441 58671 62901 67131 71361 75591
CAM Data[2014](Low) 45982 50212 54442 58672 62902 67132 71362 75592
CAM Data[2014](High) 45983 50213 54443 58673 62903 67133 71363 75593
CAM Data[2015](Low) 45984 50214 54444 58674 62904 67134 71364 75594
CAM Data[2015](High) 45985 50215 54445 58675 62905 67135 71365 75595
CAM Data[2016](Low) 45986 50216 54446 58676 62906 67136 71366 75596
CAM Data[2016](High) 45987 50217 54447 58677 62907 67137 71367 75597
CAM Data[2017](Low) 45988 50218 54448 58678 62908 67138 71368 75598

CAM Data[2017](High) 45989 50219 54449 58679 62909 67139 71369 75599
CAM Data[2018](Low) 45990 50220 54450 58680 62910 67140 71370 75600
CAM Data[2018](High) 45991 50221 54451 58681 62911 67141 71371 75601
CAM Data[2019](Low) 45992 50222 54452 58682 62912 67142 71372 75602
CAM Data[2019](High) 45993 50223 54453 58683 62913 67143 71373 75603
CAM Data[2020](Low) 45994 50224 54454 58684 62914 67144 71374 75604
CAM Data[2020](High) 45995 50225 54455 58685 62915 67145 71375 75605
CAM Data[2021](Low) 45996 50226 54456 58686 62916 67146 71376 75606
CAM Data[2021](High) 45997 50227 54457 58687 62917 67147 71377 75607
CAM Data[2022](Low) 45998 50228 54458 58688 62918 67148 71378 75608
CAM Data[2022](High) 45999 50229 54459 58689 62919 67149 71379 75609
CAM Data[2023](Low) 46000 50230 54460 58690 62920 67150 71380 75610
CAM Data[2023](High) 46001 50231 54461 58691 62921 67151 71381 75611
CAM Data[2024](Low) 46002 50232 54462 58692 62922 67152 71382 75612
CAM Data[2024](High) 46003 50233 54463 58693 62923 67153 71383 75613
CAM Data[2025](Low) 46004 50234 54464 58694 62924 67154 71384 75614
CAM Data[2025](High) 46005 50235 54465 58695 62925 67155 71385 75615
CAM Data[2026](Low) 46006 50236 54466 58696 62926 67156 71386 75616
CAM Data[2026](High) 46007 50237 54467 58697 62927 67157 71387 75617
CAM Data[2027](Low) 46008 50238 54468 58698 62928 67158 71388 75618
CAM Data[2027](High) 46009 50239 54469 58699 62929 67159 71389 75619
CAM Data[2028](Low) 46010 50240 54470 58700 62930 67160 71390 75620
CAM Data[2028](High) 46011 50241 54471 58701 62931 67161 71391 75621
CAM Data[2029](Low) 46012 50242 54472 58702 62932 67162 71392 75622
CAM Data[2029](High) 46013 50243 54473 58703 62933 67163 71393 75623
CAM Data[2030](Low) 46014 50244 54474 58704 62934 67164 71394 75624
CAM Data[2030](High) 46015 50245 54475 58705 62935 67165 71395 75625
CAM Data[2031](Low) 46016 50246 54476 58706 62936 67166 71396 75626
CAM Data[2031](High) 46017 50247 54477 58707 62937 67167 71397 75627
CAM Data[2032](Low) 46018 50248 54478 58708 62938 67168 71398 75628
CAM Data[2032](High) 46019 50249 54479 58709 62939 67169 71399 75629
CAM Data[2033](Low) 46020 50250 54480 58710 62940 67170 71400 75630
CAM Data[2033](High) 46021 50251 54481 58711 62941 67171 71401 75631
CAM Data[2034](Low) 46022 50252 54482 58712 62942 67172 71402 75632
CAM Data[2034](High) 46023 50253 54483 58713 62943 67173 71403 75633
CAM Data[2035](Low) 46024 50254 54484 58714 62944 67174 71404 75634
CAM Data[2035](High) 46025 50255 54485 58715 62945 67175 71405 75635
CAM Data[2036](Low) 46026 50256 54486 58716 62946 67176 71406 75636
CAM Data[2036](High) 46027 50257 54487 58717 62947 67177 71407 75637
CAM Data[2037](Low) 46028 50258 54488 58718 62948 67178 71408 75638
CAM Data[2037](High) 46029 50259 54489 58719 62949 67179 71409 75639
CAM Data[2038](Low) 46030 50260 54490 58720 62950 67180 71410 75640
CAM Data[2038](High) 46031 50261 54491 58721 62951 67181 71411 75641
CAM Data[2039](Low) 46032 50262 54492 58722 62952 67182 71412 75642
CAM Data[2039](High) 46033 50263 54493 58723 62953 67183 71413 75643
CAM Data[2040](Low) 46034 50264 54494 58724 62954 67184 71414 75644

CAM Data[2040](High) 46035 50265 54495 58725 62955 67185 71415 75645
CAM Data[2041](Low) 46036 50266 54496 58726 62956 67186 71416 75646
CAM Data[2041](High) 46037 50267 54497 58727 62957 67187 71417 75647
CAM Data[2042](Low) 46038 50268 54498 58728 62958 67188 71418 75648
CAM Data[2042](High) 46039 50269 54499 58729 62959 67189 71419 75649
CAM Data[2043](Low) 46040 50270 54500 58730 62960 67190 71420 75650
CAM Data[2043](High) 46041 50271 54501 58731 62961 67191 71421 75651
CAM Data[2044](Low) 46042 50272 54502 58732 62962 67192 71422 75652
CAM Data[2044](High) 46043 50273 54503 58733 62963 67193 71423 75653
CAM Data[2045](Low) 46044 50274 54504 58734 62964 67194 71424 75654
CAM Data[2045](High) 46045 50275 54505 58735 62965 67195 71425 75655
CAM Data[2046](Low) 46046 50276 54506 58736 62966 67196 71426 75656
CAM Data[2046](High) 46047 50277 54507 58737 62967 67197 71427 75657
CAM Data[2047](Low) 46048 50278 54508 58738 62968 67198 71428 75658
CAM Data[2047](High) 46049 50279 54509 58739 62969 67199 71429 75659

11.9 User CAM Data Memory Address

Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6
Number of User CAMs 142636 142758 142880 143002 143124 143246
- 142637 142759 142881 143003 143125 143247
Main axis position 1 Low 142638 142760 142882 143004 143126 143248
Main axis position 1 High 142639 142761 142883 143005 143127 143249
Sub axis position 1 Low 142640 142762 142884 143006 143128 143250
Sub axis position 1 High 142641 142763 142885 143007 143129 143251


Built-in
Chapter 1 Built-in FEnet communication
Part 4 Communication
Part 5. Built-in communication functions describe the specifications, performance and operation methods of
2port FEnet and RS-232C, RS-485 communication.
Built-in FEnet communication

Outline
Ethernet is the international standard registered to IEEE (Institute of Electrical and Electronics Engineers), which controls
data transfer through CSMA/CD (Carrier Sense Multiple Access/Collision Detection).
Ethernet can transmit data at the speed of10 Mbps and 100 Mbps and it is stated as ‘Fast Ethernet’ in the standard. The speed
of Fast Ethernet can be expressed as 10 BASE-T, 100 BASE-T. ‘T’ means the twisted pair wire. In the case of 100 BASE-T,
for stable communication with high speed, the specification of the cable to be used is defined and standardized cables are
recommended.
The built-in FEnet of MLU-H2/HP small-sized PLC basic unit has various applications based on the standard so it provides
excellent functions and performance for a user.
Notice
MLU-H2/HP operate at 10/100 BASE, but only supports Auto-Negotiation setting, and the user cannot select the speed
directly. When auto-negotiation is used, the network speed is set Automatically.
Characteristics
Built-in FEnet supports ARP, ICMP, TCP, UDP, IP, SMTP and SNTP protocols and has the following features.
1) Supporting IEEE 802.3u standard

2) Supporting high speed link for high-speed data communication between Honeywell modules
- Providing the parameter setting program (SoftMaster)
- Transmission of the maximum 32 blocks Ⅹ 200 words, reception of the maximum 32 blocks Ⅹ 200 words,
transmission·reception of maximum 64 blocks Ⅹ 200 words)
3) Communication with up to 16 modules except HS link (maximum 16 channels when using dedicated communication
and P2P communication)
4) Supporting the loader service (SoftMaster) through Ethernet
- Dedicated TCP/IP PORT: 2002 allocations
5) Easy connection with other companies’ systems through P2P communication and SoftMaster
- Variable READ/WRITE service is available: Using the Dynamic Connection functions
6) Auto Negotiation
- Supporting 10/100BASE-TX media auto setting
7) Auto-MDIX (Using HP Auto-MDIX)

- Function to assort the cross cable and straight cable automatically

8) Supporting various communication functions
- System access through public network
- Supporting Honeywell protocol (MLDP) and other companies’ protocols (Modbus TCP/IP) (dedicated service)
- Supporting the simple and convenient client function for communication between Honeywell communication
modules and communication with other companies’ modules
- MLDP, Modbus TCP, user-defined P2P client function
- Providing the host Enable table for upper PC (MMI) and communication security
- Supporting Dynamic Connection/Disconnection through P2P service
9) Providing various diagnosis functions, status information of modules and network
- Status of the CPU module
- Status of communication modules
- Status of communication services (high speed link, dedicated service, P2P)
- Providing the PING function to verify the presence of other modules
- Providing packet types received by Honeywell communication modules and packet reception rate per minute
(network load can be estimated)
- Providing the diagnosis function of communication modules through the network
- Auto scan(Shows network connected device of Honeywell product) provided (Except for MLL-EMTA)
- IP search function provided in SoftMaster(Except for MLL-EMTA)
10) Providing commercial service

- Providing E-mail transmission service through SMTP.
- Providing PL C time synchronization service though SNTP protocol.

Built-in
Specifications
Performance Specifications
Items Specifications Remarks

Transfer rate Auto
Transfer mode Base band
Flow control HALF/FULL
Transm Modulation method NRZI 4B/5B coding
ission Transformer CT 1:1 node– hub
Maximum distance between nodes 100 m
specific Maximum protocol size Data 512 bytes
ations Communication zone CSMA/CD
access method
Frame error check CRC 32
Communication channel 1 Channel

MLDP dedicated or Modbus: 16 channels
UDP dedicated server: 1channel(UDP)
High speed link: 1channel(UDP)
Maximum server access Remote 1,2: each 2channel(TCP)
25 channels
channel Auto Scan: 2channels(UDP)
SMTP: 2channels
(including relay server 1channel)(TCP)
SNTP: 1channel(UDP)
Specifications
Items Comm.
Driver Port No. Remarks
method
TCP/IP 2004
MLDP server ▪ Up to 16 channels
Dedicated UDP/IP 2005
F ▪ Up to 512 bytes
Modbus TCP server TCP/IP 502
U
High ▪ Up to 64 blocks
N - UDP/IP 2006
speed link ▪ 200 words per block
C
TCP/IP 2004
T MLDP client
UDP/IP 2005
I ▪ Up to 15 channels
P2P Modbus TCP client TCP/IP 502
O ▪ Up to 512 bytes
TCP/IP Customized
N User-defined frame
UDP/IP Customized
Server TCP/IP 2002 ▪ Up to 1channel
Remote
Client TCP/IP 2002 ▪ Up to 1channel
2007(list),
Auto Scan - UDP/IP ▪ Up to 2channel
2008(inforamtion0
SNTP Client UDP/IP Customized ▪Up to 1channel
25(relay)
SMTP Client TCP/IP ▪Up to 2channel
Customized

Items Specifications
high speed link exchange number/whether using
DHCP
Information of built-in IP address/MAC address
communication functions module status/presence of system parameters
Group status/media setting value
hardware/software version
Number of transmitted packets/ Number of received
Dedicated service
packets / Number of error packets / status drive setting
Number of transmitted/received packets
Diagnosis Status by
High speed link high speed link flag
function service
(RUN, link, Mode, Status, TRX, Error)
Connection status / service status
P2Pservice
service count / error count
Total number of
Media received packets
BROAD, MULTI, UNI, UDP, ARP, packet drop
information Packet rate per
second
Ping Test IP Address / Number of settings / Timeout
Auto-Scan available
(1) MLU-DN32HP/H2 (IEC type)
AREA Device Type Size(Word) Remark

P0 – P2047%IW0.0.0 Read, Write Enable
PI 210248
~ %IW15.15.3
M0 – M2047%QW0.0.0 Read, Write Enable
MQ 210248
~ %QW15.15.3
K0 – K4095%MW0 Read, Write Enable
KM 409616384
~ %MW16383
D0 – D32767%WW0
DW 32768 Read, Write Enable
~ %WW32767
R0 – R32767%RW0 Read, Write Enable
R 3276816384
~ %RW16383

Built-in
Names and roles of built-in FEnet parts
No. Name Details
Displays the status of modules and communication.

Item Color Operation details of each status
Connection
OFF No connected device
error
① LED display part RX/TX Yellow
During Flickering in case RX, TX
Flickering
communication occur
ON 100BASE-T In progress at 100Mbps
SPEED Green
OFF 10BASE-T In progress at 10Mbps
FEnet
② communication FEnet communication connector (RJ 45)
connector

Cable Specifications
UTP FTP STP
Items Names Remarks

Cable for unshielded high Up to 200MHz
UTP (or U.UTP)
speed signal Sound + information (Data)+low-grade video signal
Up to 100MHz
Considering electromagnetic interference (EMI)
FTP (or S.UTP) Cable with shielded core only
and electronic stability
Sound + information (Data)+low-grade video signal
Dual Shielded, pair individual Up to 500MHz
STP (or S.STP) twisted and cable with shield Sound + information (Data)+Video signal
core only Substitute for the coaxial cable of 75Ω
- UTP(Unshielded Twisted Pair): A cable made by twisting an insulated copper wire to reduce electromagnetic induction.
- FTP(Foil Screened Pair): Aluminum silver foil wrapped around four strands of cable, insulation is higher than UTP cable
- STP(Shielded Twisted Pair): By adding a shielding material that can serve as a ground, it prevents external noise from entering or is resistant
to signal interference.
For 100 BASE-TX,‘T’ indicates ‘a twisted wire is applied’ and ‘X’ indicates the kinds of twisted wires for
classification. ‘TX’ uses an unshielded twisted pair wire 5 (UTP 5) or shielded twisted pair wire ; ‘T2’ uses an
unshielded twisted pair wire 3 (UTP 3); ‘T4’ uses the unshielded twisted pair wire 3, 4, 5 (UTP 3, 4, 5). The
built-in FEnet specifies 100 BASE-TX and adopts the UTP cables of more than Category 5.
The cables can be classified as below.
Notice
ML50 FEnet does not support AUI (10BASE-5).
(1) In the case of twisted pair cable unit (more than Category 5) adopts the hub of 100Mbps and it can be used with
the zone of 10Mbps (less than Category3) but at this time, the network speed is limited to 10Mbps so be careful
for system installation.
(2) Both twisted cables and straight cables can be applied.
(3) UTP : Unshielded Twisted Paired Copper Cable
- FTP : (Overall) Foiled Twisted Paired Copper Cable
- STP : (Overall) Shielded (and Shielded Individually Pair)Twisted Paired Copper Cable
(4) Patch Cable (or Patch Cord)
In order to enhance the UTP 4-paired cable’s flexibility, the conductor with twisted wire can be used instead of a
solid conductor; used standard specification and material is Un-coated AWG 24 (7/0203A). Namely, the
diameter of an element wire is 0.203mm and the element wire is standardized with the structure of 1+6 and it is
made of annealed copper wire.

Built-in
Using frequency Transfer rate

Classification Use
(MHz) (Mbps)
Category 1 Sound frequency 1 ▪Telephone network (2Pair)
Category 2 4 4 ▪Multi-Pair communication cable
Category 3 16 16 ▪Telephone network + computer network
▪Computer network transfer rate Up
Category 4 20 20
▪Low-loss communication cable
▪Digital telephone
Category 5 and
network +computer network
expanded 100 100
▪Low-loss, broadband cable
category 5
▪Gigabit Ethernet (1000 BASE-T)
Category 6,6a 250 ~ 500 10G ▪10G BASE-T Cable
Category 7 600~ 10G ▪appropriate foe STP
Notice
Now, Category 3, 5, En-Category 5 and Category 6 are widely used domestically and internationally. Category 4
disappeared due to emergence of Category 5 and Category 7 that is the STP structure is still at a development stage
world wide.
Items Unit Value

Conductor resistance
Ω/100m 9.38/100m
(Max.)
Insulation resistance
Ω(1~100MHz) 100 ± 15
(Min.)
Less than 10MHz 7.1 dB/100m
Attenuation dB/100m 25MHz 11.4 dB/100m
100MHz 24.0 dB/100m
10MHz 47.0 dB
Near-end crosstalk Less than
25MHz 40.3 dB
attenuation dB/100m
100MHz 30.1 dB
<UTP cable specifications>

Specifications of installation and a trial run

Example of FEnet installation
Instructions to install cables

In the case of 10/100 BASE-TX, the maximum length between nodes is 100m (distance between this module and the
hub). Generally, a hub uses the straight cable made of twisted transmission (TD) and reception (RD)internally. If you
connect these 2 basic units, they can be used regardless of cable types since the built-in FEnet interface supports Auto-
MDIX.
You can connect the signal lines of straight cables and cross cables as below.
(1) Straight cable
(2) Cross cable
Notice
(1) Separate the hub’s power supply from the PLC’s power supply.
(2) For termination and manufacture, installation of cables, contact the professional manufacturers.

Built-in
Instructions to install the UTP

Use the UTP cable that meets the characteristics of Category-5. Be careful not to exceed the cable’s tensile
force by constraint during wiring. When stripping the cable’s sheath, strip it by the length to be connected and
be careful not to damage the insulator.
When installing the UTP cable, keep the proper distance between the EMI source and the UTP cable.
Minimum separation distance

Conditions Less than More than
2.5 kVA
2.0 kVA 5.0 kVA
In case the unshielded power line or electric equipments
127 mm 305 mm 610 mm
are open or close to the non-metallic pipes.
In case the unshielded power line or electric equipments
64 mm 152 mm 305 mm
are open or close to the buried metallic pipes.
In case the power line of the buried metallic pipes (or
equivalent shielded ones) is close to the buried metallic - 76 mm 152 mm
pipes.
Transformer /electric motor fluorescent light 1,016 mm / 305 mm
< Separation distance by conditions when installing the UTP cable>
Items Color Operation details of each status

ON Normal connection Linked with the connected device normally
OFF Connection error No connected device
LINK/ACT Yellow
During
Flickering Flickering in case RX, TX occur
communication
ON 100BASE-T In progress at 100Mbps
SPEED Green
OFF 10BASE-T In progress at 10Mbps

How to make a trial run
It describes the installation of the product and procedures before operation. If the installation of the product
is completed, install and set up the system based on the below procedures.
Refer to the following items to be checked before operating the system with the built-in FEnet.
Items to be checked
Installation and execution, operation of SoftMaster
Access Status of communication cables (Only when the cable is accessed)
Startup
Apply the power:
(1) Check input power.
(2) Check the communication cable access.
(3) Apply the power.
(4) Check whether the power LED is turned on.
(5) Check the LED status of the basic unit
 In case of abnormal status, refer to ‘Troubleshooting’ of the basic unit manual.
(6) Check whether the status of the LINK LED is normal.
 In case the LED is turned off despite connecting the line to the cable, refer to ‘Troubleshooting’
of the basic unit manual.
(7) After setting the system parameters correctly, download them.
When you configure the system with ML50’s built-in FEnet, refer to the below for installation.
(1) Check the basic factors required for system configuration and select the proper communication interface.
(2) Choose the dedicated cable for communication modules.
(3) When installing communication cables, check whether the connector pins are damaged or not.
(4) For expansion communication modules besides built-in communication, the maximum of 4 stages can
be equipped within the number of stages as below.
(2EA of existing communication expansion modules, 2 EA of high speed communication interfaces for XBM
‘H(P)’ unit can be equipped)
The following table shows the number of expansion stages for each basic unit type.
XBC XEC XBM XEM
Type
U-type H-type SU-type U-type H-type SU-type S,H,H2,HP H2,HP
Maximum
number of
10-stage 10-stage 7-stage 10-stage 10-stage 7-stage 7-stage 7-stage
expansion
stages
(5) When installing modules, lock the modules after equipping the relevant slot without accessing the
communication cable. In case the device is not locked up, interface error with the basic unit may occur.

Built-in
(1) The IP addresses of devices should be different. If the IP addresses are overlapped, communication will
not work normally.
(2) Set up the different exchange numbers for each station to use the high speed link service.
(3) Use the specified communication cables. Otherwise, communication problems may occur.
(4) Check whether the cables are disconnected or shorted before installing the communication cables.
(5) Fix them tightly until the communication cable connector clicks
(6) In case the cable access is unstable, it may cause serious communicable problems.
(7) For wiring, separate the communication cables from the power line or inductive noise.

Configuration of FEnet communication system
FEnet supports open Ethernet so you can configure the network by connecting with Honeywell and other
companies’ PLCs, PCs. Some examples of network system configurations are represented as below.
Mixed network configuration
[Fig.1.4.1] System configuration diagram
Built-in FEnet accesses Honeywell PLC, other companies’ PLCs, PCs, etc. through the network. You can
configure the system by using dedicated communication, Modbus TCP/IP, user-defined frame, high speed
link communication.
Network configuration through ML50 PLC
[Fig. 1.4.2] System configuration diagram
ML50’s built-in FEnet can access to 1:1 communication or network and perform 1:N communication by using
cross cables or straight cables. You can transmit and receive the data through the dedicated services,
Modbus TCP/IP, user-defined frame and high speed link communication.

Built-in
Network configuration through ML50 PLC and MMI

For communication between ML50’s built-in FEnet and the PC, 1:N communication is available by assessing
to 1:1 communication or the network using cross cables or straight cables. You can transmit and receive data
in the PC by using SoftMaster or MMI. In addition, through SoftMaster, you can make, download, upload the
program and parameters and transmit·receive data through dedicated services, Modbus TCP/IP, user-
defined frame.
Network configuration between Honeywell modules

You can configure the system by using ML50’s built-in FEnet and 2MLI PLC’s FEnet I/F expansion modules.
1:N communication is available through 1:1 communication using cross cables or accessing to network. You
can transmit and receive the data through the dedicated services, Modbus TCP/IP, user-defined frame and
high speed link communication.
Network configuration using ML50 PLC and other companies’ PLCs

ML50’s built-in FEnet can communicate with other companies’ PLCs, HMIs, MMIs. 1:N communication is
available through 1:1 communication using cross cables or accessing to network. For communication, the PLCs
should have the same protocol.

Protocols for each service

Built-in FEnet interface supports Ethernet(open Ethernet), so you can configure the network by connecting with
Honeywell and other companies’ PLCs, PCs.
For communication after network configuration, make sure to set up IP, parameters of each PLC, protocols.
The protocols supported by the built-in FEnet are MLDP dedicated, Modbus TCP/IP, user-defined frame, File
Transfer Protocol (FTP).
Each protocol is operated by the server or client and dedicated server, P2P functions communicate based on
designated protocols.
Specifications
Items Communicati
Driver Port No. Remarks
on method
TCP/IP 2004
MLDP server Up to 16channels
Dedicated UDP/IP 2005
Up to 512 bytes
Modbus TCP server TCP/IP 502
TCP/IP 2004
MLDP client
UDP/IP 2005
Up to 15channels
P2P Modbus TCP client TCP/IP 502
Up to 512 bytes
TCP/IP Customized
Communi- User-defined frame
UDP/IP Customized
cation
Server TCP/IP 2002 Up to 1channels
function Remote
Client UDP/IP 2002 Up to 1channels
2007(list)
Auto Scan - UDP/IP 2008(Informa Up to 2channels
tion)
SNTP Client UDP/IP Customized Up to 1channels
25(Relay)
SMTP Client TCP/IP Up to 2channels
Customized
[Table 1.5.1] Protocols by communication functions

Built-in
MLDP dedicated protocol
Dedicated protocols for MLDP are the communication protocols for Honeywell PLC only for communication
between Honeywell modules. You can Read/Write data with commands and communication is available in
PC, HMI by using dedicated protocols for MLDP. Two communication methods of TCP and UDP can be
applied to the dedicated protocols for MLDP.
Protocol Communication Method Port No.

TCP/IP 2004
For MLDP only
UDP/IP 2005
[Table 1.5.2] Classification of dedicated protocols for MLDP
(1) MLDP dedicated packet’s structure through Ethernet

When communicating with dedicated protocols for MLDP, MAC, IP header (IP Header), TCP Header and
Honeywell frames containing data are included for Ethernet communication. [Fig. 1.5.1] shows the frame
structure for Ethernet communication.
Ethernet Request / Response Frame
MAC IP Header TCP Header MLDP Frame Format
TCP /IP Data Frame
[Fig. 1.5.1] MLDP dedicated packet structure through Ethernet
The Honeywell frames for data communication include Honeywell’s own data (Company ID), command
(Command),
data type (Data Type), data (Data). [Fig. 1.5.2] shows the frame form.
MLDP Frame Format
Company Header Command Data Type Data
[Fig. 1.5.2] Structure of dedicated frames for MLDP

(1) Device type

The data types of [Table 1.5.3] are available in the dedicated protocols for MLDP. When you designate the
devices, ‘%’ (25H) should be attached to the front of string.
(‘%’is the character indicating the startup of devices)
Type code
Data type Flag Example of application
value
%PX000, %MX000, %LX000, %KX000, %CX000,
Bit h0000 X (58h)
%TX000, %FX000, %IX0.0.0, %QX0.0.0, %UX00.00.0, etc.
PB000, %MB000, %LB000, %KB000, %CB000, %TB000,
Byte h0100 B (42h)
%FB000, %IB0.0.0, %QB0.0.0 , etc.
%PW000, %MW000, %LW000, %KW000, %CW000, %T
Word h0200 W (57h) W000, %FW000, %DW000, %IW0.0.0, %QW0.0.0, %MW
0, %RW0, %WW0, %UW00.00 , etc.
%PD000, %MD000, %LD000, %KD000, %CD000, %TD0
D word h0300 D (44h) 00, %FD000, %DD000, %ID0.0.0, %QD0.0.0, %MD0, %R
D0, %WD0 , etc.
%PL000, %ML000, %LL000, %KL000, %CL000, %TL000,
L word h0400 L (4Ch) %FL000, %DL000, %IL0.0.0, %QL0.0.0, %ML0, %RL0, %
WL0 , etc.
[Table 1.5.3] Data types of dedicated protocols for MLDP
Notice
(1) In the timer/counter, designating bit means the contact values; designating byte, word values
means the current values.
(2) The data register (D) can be designated as Byte, Word only.
(3) In the case of byte type command, the address value is doubled compared to the value at the time of designating
word. Namely, in the case of %MW1234, %MW1234 should be applied for word designation but %MB2468
should be applied for byte designation.

Built-in
4 commands are used for MLDP dedicated protocols and each command processes Read/Write,
Request/Response.
For available data types for each command, individual one can apply bit, byte, word, double word, long word;
continuous one can adopt byte only.
Comm Command
Data format Processing details
and code
h0000
h0100
Request on reading data depending on each data
Request: Individual h0200
type
h0000 h0300
h0400
Continuous h1400 Request on reading byte type of variables by block
Read
h0000
h0100
Response: Individual h0200 Response to the request on reading data
h5500 h0300
h0400
Continuous h1400 Response to the request on reading by block
h0000
h0100
Request: Individual h0200 Request on writing data depending on each data type
h5800 h0300
h0400
Continuous h1400 Request on writing byte type of variables by block
Write
h0000
h0100
Response: Individual h0200 Response to the request on writing data
h5900 h0300
h0400
Continuous h1400 Response to the request on writing by block
[Table 1.5.4] Command types of MLDP dedicated protocols

Client (request frame) Server (response frame)

Items
Classification Details Size Classification Details Size
Honeywell’S Honeywell’S Company ID 1
Company ID 1 10 10
OWN OWN Company ID 2
PLC
PLC information h00~hFF 2 h00 ~ hFF 2
information
CPU
CPU information hA0 1 hA0 1
information
Frame
Company Frame direction h33 1 h11 1
direction
header
Frame
Frame sequence
h0000~hFFFF 2 sequence h0000~hFFFF 2
number
number
Length h0000~h0100 2 Length h0000~h0100 2
Positioninformati Position
h00~hFF 1 h00~hFF 1
on information
Check Sum h00~hFF 1 Check Sum h00~hFF 1
h5400 Read 2 h5500 Read 2
Command Command Command
h5800 Write 2 h5900 Write 2
h0000 bit h0000 bit
h0100 byte h0100 byte
h0200 word h0200 word
Double Double
h0300 h0300
Data Type Data type word 2 Data type word 2
long Long
h0400 h0400
word word
Continu Continu
h1400 h1400
ous ous
Reserved area - 2 Reserved area - 2
Number of
h0100~h1000 2 Error status h0000~hFFFF 2
blocks
Data Variable length
h0400~h1000 2 Data 2
(N)
Data address - N
Number of data h0 (M)00 M
[Table 1.5.5] Headers and data structures of MLDP dedicated protocols
(1) Company ID (Honeywell’S own number)
The Honeywell’s own number has two types; 2MLI and ML50 PLC use Company ID 1 when they are
operated as the client; the Company ID requested by the client is used when they are operated as server.
For client, Company ID 1 or Company ID 2 should be used.
Type Mode Frame Remarks
ASCII L S I S - X G T /n /n
Company ID 1 MLDP
HEX h4C h53 h49 h53 h2D h58 h47 h54 h00 h00
ASCII L G I S - G L O F A
Company ID 2 GM,MK
HEX h4C h47 h49 h53 h2D h47 h4C h4F h46 h41
[Table 1.5.6] Honeywell’s Own Number

Built-in
(1) Request frame for reading variables individually

Items Type Frame Size
HEX 0x4C 0x53 0x49 0x53 0x2D 0x58 0x47 0x54 0x00 0x00
Company ID 10
HEX 0x4C 0x47 0x49 0x53 0x2D 0x47 0x4C 0x4F 0x46 0x41
PLC Info HEX 0x00 0x00 2
CPU Info 0xA0 1
Source of
0x33 1
Frame
Invoked ID 0x00 0x01 2
Length 0x10 0x00 2
Position 0x00 1
Check Sum 0x09 1
Command 0x54 0x00 2
Data Type 0x14 0x00 2
Reserved 0x00 0x00 2
Block No. 0x01 0x00 2
Variable Length 0x04 0x00 2
ASCII % M B 0
Data Address 4
HEX 0x25 0x4D 0x42 0x30
Data Count HEX 0x02 0x00 2
[Table 1.5.7] Request frame for reading variables individually
(2) Response frame for reading variables individually

Company ID 10
CPU Info 0xA0 1
Source of
0x11 1
Frame
Length 0x0E 0x00 2
Position 0x01 1
Check Sum 0x25 1
Command 0x55 0x00 2
Error State 0x00 0x00 2
Data Count 0x02 0x00 2
Data 0x00 0x00 2
[Table 1.5.8] Response frame for reading variables individually

(3) Request frame for reading variables sequentially

Company ID 10
CPU Info 0xA0 1
Source of
0x33 1
Frame
Length 0x10 0x00 2
Position 0x00 1
Check Sum 0x09 1
Command 0x54 0x00 2
Variable Length 0x04 0x00 2
ASCII % M B 0
Data Address 4
HEX 0x25 0x4D 0x42 0x30
Data Count HEX 0x02 0x00 2
[표 1.5.9] Frame for reading variables sequentially
(4) Response frame for reading variables sequentially

Company ID 10
CPU Info 0xA0 1
Source of
0x11 1
Frame
Length 0x0E 0x00 2
Position 0x01 1
Check Sum 0x25 1
Command 0x55 0x00 2
Error State 0x00 0x00 2
Data Count 0x02 0x00 2
Data 0x00 0x00 2
[Table 1.5.10] Response frame for reading variables sequentially

Built-in
Modbus TCP/IP protocol
The Modbus TCP/IP protocol is the function to Read/Write data by using the function codes. The Modbus
TCP/IP frame is composed of MAC for Ethernet communication, IP header, TCP header, Modbus ADU.
1) ADU: Application Data Unit

2) MBAP: Modbus Application Protocol
3) PDU: Protocol Data Unit
(1) Modbus TCP/IP’s frame structure through Ethernet

Ethernet Request / Response Frame
MAC IP Header TCP Header MODBUS TCP/IP ADU
MODBUS TCP/IP ADU
[Table 1.5.1] Modbus TCP/IP’s frame structure through Ethernet
MABP Header
Transaction Identifier Protocol Identifier Length Unit Identifier
[Table 1.5.2] Modbus MABP structure
MODBUS TCP/IP ADU
MABP Header Function Code Data
PDU
[Table 1.5.3] Modbus ADU structure

(2) MBAP Header structure
Type Size Description Client Server

Separation of
When the server
Transaction MODBUS
2byte Initialized by the client responds, it is copied
Identifier request/response
and responded.
processing
When the server
2byte 0 = MODBUS protocol Initialized by the client responds, it is copied
Protocol
from the request frame.
Identifier
Frame size except Created by the client Created by the server
2byte
MBAP (On request) (In case of response)
Separation of units When the server
Unit Identifier 1byte connected to the serial Initialized by the client responds, it is copied
line from the request frame
(3) Available function codes
Function codes Function Modbus transcription

Function Code 01 (h01) Reading output bit Read Coils
Function Code 02 (h02) Reading input bit Read Discrete Inputs
Function Code 03 (h03) Reading output word Read Holding Registers
Function Code 04 (h04) Reading input word Write Input Register
Function Code 05 (h05) Writing output bit Write single Coil
Function Code 06 (h06) Writing output word Write single Register
Writing output bit
Function Code 15 (h0F) Write Multiple Coils
sequentially
Writing output word
Function Code 16 (h10) Write Multiple Registers
sequentially
(1) Function code h01 : Reading output bit (Read Coils)
• Request
Items Size Range
Function code 1 byte h01
Initial address 2 bytes h0000 ~ hFFFF
Number of coils 2 bytes h0001 ~ h07D0 (2000 bit)
• Response
Items Size Range
Number of bytes 2 bytes N
Coil status n byte n = N or N + 1
• Error
Items Size Range
Function code 1 byte h81 (function code+ h80)
Exceptional code 1 byte h01,h02,h03,h04

Built-in
•Example of Application
Request frame Response frame
Items HEX Items HEX
Function code h01 Function code h01
Initial address
h00 Number of bytes h03
(upper byte)
Initial address
h13 Coil status (27-20) hCD
(lower byte)
Number of coils
h00 Coil status (36-28) h6B
(upper byte)
Number of coils
h13 Coil status (38-36) h05
(lower byte)
(2) Function code h02 : Reading input bit (Read Discrete Inputs)
• Request
Items Size Range
Number of inputs 2 bytes h0001 ~ h07D0 (2000 bit)
• Response
Items Size Range
Number of bytes 2 bytes N
Input status N x 1 byte -
• Error
Items Size Range
Function code 1 byte h82 (Function code + h80)
• Example of application
Items HEX Items HEX
Initial address (upper byte) h00 Initial address (upper byte) h00
Initial address (lower byte) hC4 Initial address (lower byte) hC4
Input status (upper byte) h00 Input status (upper byte) h00
Number of coils
h16 Number of coils (lower byte) h16
(lower byte)

(3) Function code h03 : Reading output word (Read Holding Registers)
• Request
Items Size Range
Number of inputs 2 bytes h0001 ~ h007D (125word)
• Response
Items Size Range
Number of bytes 2 bytes 2xN
Input status N x 2 bytes -
• Error
Items Size Range
Items HEX Items HEX
Initial address (upper byte) h00 Number of bytes h06
Initial address (lower byte) h6B Word status (108) h02
Number of words
h00 Word status (108) h2B
(upper byte)
Number of words
h03 Word status (109) h00
(lower byte)
Word status (109) h00
(4) Function code h04 : Writing input word (Read Input Registers)
• Request
Items Size Range
Number of inputs 2 bytes h0001 ~ h007D (125word)
• Response
Items Size Range
Number of bytes 2 bytes 2xN
Input status N x 2 bytes -

Built-in
• Error
Items Size Range

Items HEX Items HEX
Initial address
(upper byte)
Initial address
h08 Word status (108) h00
(lower byte)
Number of words
h00 Word status (108) h0A
(upper byte)
Number of words
h01
(lower byte)
(5) Function code h05 : Writing output bit (Write Single Coil)
• Request
Items Size Range
Input value 2 bytes h0000 or hFF0D
• Response
Items Size Range
Number of bytes 2 bytes h0000 ~ hFFFF
Input status 2 bytes h0000 or hFF00
• Error
Items Size Range
Items HEX Items HEX
Initial address
(upper byte)
Initial address
hC4 Coil status (27-20) hCD
(lower byte)
Input status (upper byte) h00 Coil status (36-28) h6B
Number of coils (lower
byte)

(6) Function code h 0F : Writing output word sequentially (Write Multiple Registers)
• Request
Items Size Range
Function code 1 byte h0F
Number of outputs 2 bytes h0001 ~ h07BD
Number of bytes 1 byte N
Output value N x 1 byte
• Response
Items Size Range
Function code 1 byte h0F
Input status 2 bytes h0001 ~ h07B0
• Error
Items Size Range
Function code 1 byte h8F (function code+ h80)
Items HEX Items HEX
Function code h0F Function code h0F
Initial address(upper byte) h00 Initial address (upper byte) h00
Initial address(lower byte) h13 Initial address (lower byte) h13
Number of outputs Number of outputs (upper
h00 h00
(upper byte) byte)
Number of outputs
h0A Number of outputs (lower byte) h0A
(lower byte)
Number of bytes h02
Output value (upper byte) hCD
Output value (lower byte) h01

Built-in
(7) function codeh06 : output word (Write Single Register)

• Request
Items Size Range
Output value 2 bytes h0000 or hFFFF
• Response
Items Size Range
Output value 2 bytes h0000 or hFFFF
• Error
Items Size Range
Items HEX Items HEX
Initial address
(upper byte)
Initial address
(lower byte)
Input status (upper byte) h00 Coil status (36-28) h00
Number of coils
(lower byte)

(8) Function code h10 : Writing output sequentially (Write Multiple Registers)
• Request
Items Size Range
Number of outputs 2 bytes h0001 or h07D8
Number of bytes 1 byte 2xN
Output value N x 2 bytes value
• Response
Items Size Range
Number of outputs 2 bytes h0001 ~ h007B
• Error
Items Size Range
Items HEX Items HEX
Initial address Initial address
h00 h00
(upper byte) (upper byte)
Initial address Initial address
h01 h01
(lower byte) (lower byte)
Number of outputs
h00 Number of outputs (upper byte) h00
(upper byte)
Number of outputs
h02 Number of outputs (lower byte) h02
(lower byte)
Number of bytes h04
Output value(upper byte) h00
Output value(lower byte) h0A
Output value(upper byte) h01
Output value(lower byte) h02

Built-in
Dedicated services
Outline
The dedicated services mean the server functions in the below client/server model of [Fig. 1.6.1].
It Reads/Writes data based on the protocols assessed and set by the client.
(1) Client/server model
The server performs the functions; ② detection of reception ③ transmission of response.
1. Request 2. Indication
Client Server
4. Confirmation 3. Response
[Fig.1.6.1] Server/client model
(2) System configuration
(3) Classification of dedicated services
Max./Min. number of
Dedicated services Port No. Protocol
accesses
TCP MLDP server 2004 TCP 1/16
MLDP server
UDP MLDP server 2005 UDP 1/16
Modbus TCP/IP server 502 TCP 1/16

Setting the basic parameters
(1) Setting the basic parameters for SoftMaster communication

If you create a project after executing SoftMaster, only the basic network will be displayed in the network
configuration. After accessing to the PLC, if you execute I/O synchronization in [Online] [Diagnosis]
[I/O information], the built-in communication modules will be updated. Then, if you choose the built-in
FEnet, the window for setting communication modules will be executed. The built-in FEnet is
automatically set so you cannot change the type, base, slot.
[Fig. 1.6.2] Creation of new project in SoftMaster
[Fig. 1.6.3] Changes of the network configuration after I/O synchronization

Built-in
(2) Basic setting

If you double-click the FEnet, the window for the basic setting will be created as below [Fig. 1.6.4].
[Fig.1.6.4] Window for the basic settings of communication
The descriptions on each item are as below.

TCP/IP setting
Item Description
For high speed link communication between MLDP PLC’s FEnet I/F modules, the
High speed link
FEnet I/F module to set exchange number should not overlapped with the exchange
exchange number
numbers of other FEnet I/F modules that are accessible in the network.
Select the media to be used.
 AUTO (electricity): It sets the media of the currently equipped module
automatically.
 10M/HALF: Half Duplex electricity of 10Mbps
Media
 10M/FULL: Full Duplex electricity of 10Mbps
 100M/HALF: Half Duplex electricity of 100Mbps
 100M/FULL: Full Duplex electricity of 10Mbps
Optical(FX) cable is not supported in built-in FEnet
IP address You can set the IP address of the FEnet I/F module.
Value to determine whether the opposing station exists in the same network as its
Subnet Mask
own.
Gateway module address (router address) to transmit and receive data through
Gateway
the station using different network from its own or public network.
DNS server You can designate domain name server.
DHCP For using the flexible IP instead of the static IP.
During dedicated communication, if there is not any RUN request for the set time
from the upper system on condition that it is assessed to the upper PC or MMI, the
Reception
connection with the dedicated service will end regardless of normal termination on
standby time
the assumption that there are some problems with the upper system. The standby
(second)
time is used for dedicated services to reset the channels when there are some errors
in the opposing station or cables are disconnected.
Number of It means the maximum number of TCP dedicated services that are assessable at
dedicated the same time. Setting of 1~16 is available.
accesses (In the case of P2P channel, the number of 16-dedicated accesses)

Driver (server) setting

Item Description
MLDP server For operation with the dedicated communication server
Modbus TCP/IP server For operation with the Modbus server driver
Smart server Provide both MLDP and Modbus TCP/IP server
Host table setting

Item Description
In case of Enable host table, it allows assess for the client who has the IP
Enable host table
address registered to the host table.
Setting the time synchronization function
Item Description
SNTP time synchronization
Setting SNTP time synchronization operations
function
IP Address of the SNTP SNTP server’s IP address
Port Number SNTP server’s port No.
Synchronization cycle Time synchronization cycle between the SNTP server and the PLC
UTC Time setting Setting SNTP time according to UTC

Built-in
MLDP server
The TCP MLDP server works in sequence as shown in the operating sequence of the below [Fig. 1.6.5].
[Fig.1.6.5] Operating sequence of the TCP MLDP server
The client sends the ①connection request to the server and then, the server transmits the ②response to connection
request. The connection port number is Port No. 2004 of the MLDP dedicated protocols.
Then, the client sends the ③ response to confirmation of connection. After the stages of ①~ ③ are completed,
connection between client/server is made.
After connection, the client transmits the ④request frame based on the MLDP dedicated protocols.
Then, the server transmits the ⑤response to the request frame and the client transmits the ⑥confirmation of response.
The client transmits ⑦ disconnection request and the server transmits ⑧confirmation of disconnection and
⑨terminates the connection.
Notes
UDP MLDP server uses a non-connection-oriented communication method.
Therefore, the number of dedicated server connections is not affected.
MLDP server diagnostic information unable to verify, because the UDP MLDP server uses a non-connection-oriented
UDP protocol,

Modbus TCP/IP server

The Modbus TCP/IP server works in sequence as shown in the operating sequence of the below [Fig. 1.6.6].
Client Server
Transmission port: n>1024

Destination port: 502
①SYN
Connection
②SYN ACK
Connection
③ACK
Modbus TCP/IP Protocol

(Client)
④PUSH ACK

(Server)
⑤PUSH ACK
⑥ACK
⑦FIN ACK
Request
disconnection
Disconnection
Disconnection
⑧FIN ACK
⑨RST
Time Time
[Fig.1.6.6] Operating sequence of the Modbus TCP/IP server

Built-in
P2P service
Outline
The P2P service means the client function in the below client/server model of [Fig. 1.7.1].
It is the function to request Read/Write Data to the server. If the startup conditions of each block are On, it creates the
request frames and receives responses for processing with the protocols that are designated as the relevant channel.
ML50’s built-in FEnet can realize the function through up to 7 channels and you can use other protocols for each channel.
1. Request 2. Indication
Client Server
4. Confirmation 3. Response
[Fig. 1.7.1] Server/client model
The Client performs the functions of ① transmission of request ④ confirmation.
[Fig. 1.7.2] Server/client configuration

Setting P2P parameters

[Fig. 1.7.3] shows the example of setting P2P parameters of SoftMaster.
[Fig. 1.7.3] Window for P2P setting of SoftMaster

• Window for registering P2P parameters
- You can set the P2P parameters up to 6.
- Each P2P is composed of P2P channel, P2P block, user-defined frame, E-mail.
• Window for editing P2P

- You can register and edit P2P block up to 32.
- You can separately register frames by driver.

Built-in
You need to set P2P parameters to use P2P services.

(1) Click the PLC module with the right mouse button on the P2P tab and choose P2P communication.
(2) Choose the P2P number to create the P2P module to be used.
(3) P2P 01 that ML50 basic unit’s built-in communication setting is fixed as Cnet.
(4) P2P 02 that ML50 basic unit’s built-in communication setting is fixed as FEnet.
(5) Double-click to confirm the communication settings.
(6) The base is fixed as 0.
(7) The slot is automatically designated as slot 2 that has the built-in FEnet.
(8) If communication settings are completed, click the ‘OK’ button.
(9) If you click the ‘OK’ button, the detailed items of P2P will be created in the project window as the
figure of the above.
If you set the communication modules in the P2p screen, the window for setting P2P parameters will be
displayed as the below figure. P2P is composed of 4 data.

(1) P2P channel

- Setting logical channels (IP, PORT, dedicated driver) of P2P services.
- Setting user-defined frame, MLDP client, MODBUS TCP client
- Setting communication equipments using the protocols other than MLDP/MODBUS TCP.
(2) P2P block

- Setting 32 P2P blocks that are operated independently.
(3) User-defined frames

- Registration of user-defined frames
(4) E-mail
- Registration of frames to transmit and receive E-mail frames

Built-in
Kinds of P2P services
The P2P that a user applies for programming can be divided into 6 commands.
The commands should be different depending on the service types so refer to the below table for proper
application.
Items Commands Purposes

Read Reads the designated area of the opposing station.
MLDP client Transmits its own station’s area data to the opposing
Write
station.
Send Sends its own station’s area data to the opposing station.
User-defined
Receives the transferred data from the opposing station
frame Receive
and saves it.
Read Reads the designated area of the opposing station.
Modbus TCP Transmits its own station’s area data to the opposing
Write
station.
E-mail ESend Transmits the message in case of occurrence of events.
(1) MLDP client

The MLDP client service is used to define transmission and reception of data of ML50’s built-in FEnet. For
simple communication, a user only needs to designate the basic settings such as channels and data type
(BIT,BYTE,WORD, etc.) and memory areas, etc. No. 2004 port is used for TCP and No. 2005 port is
used for UDP.
(2) User-defined frame

It is the service that makes a user define other companies’ protocols in ML50 FEnet for communication
between ML50’s built-in FEnet and other MLDP’s FEnet I/F modules or communication with other models.
The communication protocols may be different depending on the manufacturers. Through the function of
user-defined frame, a user can apply and edit the frames according to the characteristics of the relevant
communication modules. The basic structure of user-defined frame is composed of HEAD, BODY,TAIL.
(3) Modbus TCP

ML50 FEnet supports the Modbus protocol that is the industrial standards. The Port No. is fixed as 502.

How to set up P2P services
(1) Driver setting

The Ethernet Driver means the protocols that will work when the built-in FEnet is operated by the server.
There are the MLDP server and Modbus TCP/IP server for the built-in protocols. You can set the Ethernet
Driver based on the protocols to be used when the opposing station reads the basic unit’s data through
the built-in FEnet or writes the data to the basic unit. In the majority of cases, the communication opposing
station is usually MMI (or HMI). In this case, a user can communicate with the opposing devices by setting
parameters without separate communication programming. The below figure shows the typical example
of using the Ethernet Driver; communication with MMI PC. When the MMI PC requests the data, FEnet
will respond.
• Types of Ethernet (server) Drivers

The available driver types are as below.
Types Descriptions
MLDP server Honeywell’s MLDP FEnet dedicated protocol
Modbus TCP/IP server Open protocol and standard
Notice
(1) The number of drivers varies depending on the set Ethernet channels and if you set the Ethernet
channels, the number of available drivers will be as small as the number of set channels. Accordingly,
be careful of this.
(2) The Ethernet (server) Driver can realize 1:N communication so several client devices can connect
the one set port to obtain data.

Built-in
The Ethernet P2P channel is used When the PLC is operated as Master by using MLDP FEnet’s built-in
protocols or when the PLC should communicate through user-defined protocols
<Example of using P2P channel information>
(1) P2P channel setting

The built-in FEnet can transmit and receive the data by using the maximum of 16 channels and the
channel is composed of the IP address and port number of the communication device.
The number of available channels in P2P is the number that subtracts the number of dedicated accesses
in the basic parameter from the total number of channels (16). (Number of P2P channels=16–number of
dedicated accesses)
For user convenience, P2P allows the communication with the devices using MLDP, Modbus TCP
protocols by setting simple parameters. For communication with other devices, it provides the function of
user-defined frames. In addition, a user can register the message and mail address to transmit and receive
the E-mail frame. (It supports ASCII)
However, you do not need to set the channels for E-mail communication. If you choose the P2P channel
in the window for P2P setting, the below window will pop up.
You can define the P2P driver type by selecting the‘P2P Driver’ of the desired channel.

<Selection of P2P Driver client >

The below table shows the available driver types for the built-in FEnet interface and the descriptions
Items Descriptions
It is the protocol defined by a user for communication with the
User defined frame
P2P opposing device.
Driver MLDP client Not defined.
Modbus TCP client Defines the operations with MODICON’s Modbus TCP protocols.
You can select between the TCP/UDP.
TCP/UDP
If you select the Modbus TCP, it will be fixed as TCP.
You can select between the Client/Server.
Client/Server If you select the MLDP dedicated protocol OR Modbus TCP, it will
be fixed as Client.
You can input the opposing device’s port number.
It is the user-defined frame so when defining the protocols, the
Partner Port random port is designated and you can set the ports at the range of
H400~H1024. However, the MLDP dedicated protocol is fixed as
2004 and the TCP is fixed as 502.
Partner IP Address You can input the opposing device’s IP address.
If you choose the MLDP client or Modbus TCP client for the P2P Driver, you cannot apply the user-defined
frame
Notice
(1) Opposing station’s IP address
In case MLDP is client, make sure to set the server device’s IP address. If the server is dynamically
allocated the IP through DHCP, the IP address may be changed so you need to check the IP address
before use.

Built-in
The below table shows the commands and addresses of the Modbus devices.
Modicon PLC’s
Code Names of function codes Remarks
data address
01 Read output contact status (Read Coil Status) 0XXXX (bit-output) Bit Read
02 Read input contact status(Read Input Status) 1XXXX (bit-input) Bit Read
03 Read output register (Read Holding Registers) 4XXXX (word-output) Word Read
04 Read input register (Read Input Registers) 3XXXX (word-input) Word Read
05 Write output contact 1 bit (Force Single Coil) 0XXXX (bit-output) Bit Write
06 Write output register 1 word (Preset Single Register) 4XXXX (word-output) Word Write
15 Sequential Write output contact(Force Multiple Coils) 0XXXX (bit-output) Bit Write
Sequential Write output register
16 4XXXX (word-output) Word Write
(Preset Multiple Register)
If you choose the P2P block of the relevant parameter, the window for setting P2P parameters will be
displayed.
Choose Block
You can set up the independent blocks up to 32. If you choose the random block in SoftMaster, you can
designate the operations of the relevant block by selecting functions as below.
The setting items by functions and the descriptions are as below.

(1) E-mail
It is used to set up the E-mail service.
(2) Channel
You can select the communication port to be used for the relevant block. The communication port of each
block is determined at the time of setting parameter and it cannot be changed during RUN. The maximum
number of configurable channels is the number that subtracts the number of set dedicated accesses from
total 16 communication modules ‘basic settings’ of SoftMaster.
(3) Driver Setting
It means the communication driver designated by P2P setting. When designating channels, the driver for
the relevant channel is automatically loaded. In case of arbitrary deletion of P2P channel setting, the set
driver will be deleted. For more details, refer to 1.7.2 P2P channel.

(4) P2P functions

You can choose the P2P functions depending on the set channel drivers. Read/Write data can be
performed from the opposing station with the set drivers.
▪For the MLDP client, choose READ/WRITE.
▪For the Modbus TCP client, choose READ/WRITE.
▪For the user-defined frame, choose SEND/RECEIVE
READ
It is the function to read and save the random area of the opposing station. It can be used for both the
MLDP client and the Modbus TCP client driver.
WRITE
It is the function to write data in the desired area of the opposing station. It can be used for both the
MLDP client and the Modbus TCP client driver. It supports Sequential Write and Individual Write and it
is possible to write data for the maximum of 4 individual areas.
Send
It is the function to transmit the random frame to the external device to be accessed through unspecified
communication not MLDP client/Modbus TCP client protocol. It is applied to the user-defined frame.
You can select and use just one frame per one Frame Send. Through this function, you need to
designate the fixed /variable sized variables of the relevant frames. Before using this function, you need
to define the frame to be transmitted.
Receive
It is the function to receive some frames among the frames that are sent to the opposing station. You
cannot choose the same frame for each P2P Frame Receive function block. You can choose just one
reception function block for the reception frame.
(5) Conditional flag
It defines when the P2P block works and you can choose fixed cycle and memory set trigger conditions.
Startup conditions are the internal contacts of ML50 basic unit.
(6) Command Type
You can determine the detailed operations of Read; you can choose between Individual Read and
Sequential Read. Individual Read covers the maximum of 4 memory areas (MLDP protocol) and
Sequential Read covers the defined size at the designated position.

Built-in
(7) Data type

It defines the data type that will be processed by the blocks. In the case of MLDP, it is possible to process
data of bit, byte, 2 bytes (1word), 4 bytes (double word), 8 bytes (long word).
(8) Number of variables
It can be defined only when you choose Individual Read. It determines the number of areas to be read
individually and in the case of MLDP, you can choose them up to 4.In the case of Modbus, it is fixed as 1.
(9) Data size
It defines the size of the data to be read when you choose Sequential Read and the data size is different
depending on the data type.
(10) Frame
You can select the relevant frame (group) setting that will perform communication when defining the user
frame.
(11) Setting
You can designate the memory area to be transmitted∙received when setting MLDP client or user definition.
For transmission, as shown in the below figure, designate the area that will save the area (%MW0) to be
transmitted and the received data from the opposing station.

Modbus TCP client

It is the function to Read/Write Data, which transmits the request frame to the server by using function code
based on Modbus TCP/IP protocol. It transmits the frame when the startup conditions of each block set in
parameters are On.
Client Server
Transmission port: n>1024

Destination port: 502
①SYN
Connection
②SYN ACK
Connection
③ACK

(Client)
④PUSH ACK

(Server)
⑤PUSH ACK
⑥ACK
⑦FIN ACK
Request
disconnection
Disconnection
Disconnection
⑧FIN ACK
⑨RST
Time Time
<Setting Modbus TCP client channel>

Built-in
User-defined frame
If you want to transmit the user’s desirable frame or receive one among the frames of the network, you need to define the
relevant transmission·reception frame. The function is available in the P2P service only. All frames are composed of
Header, Data, Tail and each element can be omitted.
The user-defined frame is expressed as the group name and frame name. Each meaning is as below.
It is the set of frames having the same Headers and Tails. To register frames, you need to register groups.
(1) Adding groups of user-defined frame

After choosing the user-defined frame as below, click the right mouse button. Select “Add a Group” in the
popup menu for adding items.

(2) Selecting group names and frame types of the user-defined frame
Enter the group name in the group edition menu and select the frame type. You can input the group name
discretionally.
< Selecting group names and frame types of the user-defined frame >
The below figure shows the results of the project window when selecting “SEND” of the group name,
transmission frame.
< Completion of adding groups of the user-defined frame>

Built-in
- It is composed of the Head, Body, Tail.

- It defines the transmission · reception frames.
- You can add the fixed∙variable sized variables to the Body.
- The frame is composed of multiple segments and you can register the maximum of 4 variable segments
to one Body.
(1) Adding frames to the groups

If you click the right mouse button on the added group as below, the popup menu will come on. Choose
‘Add Frames’ and choose the frame types. The below figure represents the added frames to the group
when you select HEAD, TAIL, BODY respectively.
< Adding the transmission frame of the user-defined frame>
Adding the user-defined frame’s HEAD
<Adding the use defined frame’s HEAD>

(2) Adding the user-defined frame’s TAIL
(3) Adding the user-defined frame’s BODY
(1) Kind of segments

The frame’s Headers, Bodies, Tails are composed of multiple segments. You can add segments by clicking
the right mouse button.

Built-in
< Example of the window where the segment is registered>
<Example of add line>

There are the numerical constant, string constant, fixed ∙ variable sized variables for the segments forming
the frames.
Numerical constant
It defines the part that is fixed as the constant among frames and the value of data term should be
designated as Hex.
String constant
Register the string constant among frames and designate the value of data term as ASCII.
Variable size variables
- They can be used for the frame’s Body area.
- Transmission frame: It is used to change the frame length. If you check memory specification, the
transmission frame will be composed of the data read from the PLC memory.
- Reception frame
It is used to process variable sized data among received frames.

It can be registered to the last segment among the Body areas. If you check memory specification, the
data for the corresponding segment will be saved among received frames (it also can be swapped and
changed)
(2) Data conversion processing

In case you need to convert the data into ASCII from Hex during transmission∙reception of frames or
execute Byte Swap, it can be defined in the frame editing frame.
Hex To ASCII
- Transmission: Converts the data read from the PLC memory into ASCII and composes the
transmission frame
- Reception: Converts the received data into ASII and saves it.
ASCII To Hex
- Transmission: Converts the data read from the PLC memory into Hex and composes the
transmission frame.
- Reception: Converts the received data into Hex and saves it.
For configuring the transmission frame, in CASE you use the PLC memory MW100’s 2word and
convert it into Hex to ASCII or in case h34353637 is saved in MW100, the corresponding segment of
the transmission frame will be made of “4567”.
In addition, when you convert the part of the received frames into Hex and save it, if the value of the
corresponding area is “4567”, h34353637 will be saved to the PLC memory.
Swap
(a) 2byte
- Swapping the corresponding part of transmission · reception frames by 2 bytes
(b) 4byte
(c) 8byte

Built-in
* h1234567811223344 can be converted by each method as below.

- 2byte Swap: h3412785622114433
- 4byte Swap: h7856341244332211
- 8byte Swap: h4433221178563412

▪
▪<TCP user-defined frame server>
▪
(1) It is the function to receive the frame registered in the transmission block to the port designated by a
user.
(2) After the access request is received from the client and connection is completed, when the frame
registered in the reception block is received from the client, the corresponding block will be processed.
(3) In case the ports or frame forms are different, reception process is not available.
(4) In the case of UDP user frame server, when the frame registered in the reception block is received to
the port, it will be processed.

Built-in
<TCP user-defined frame client>
1) It is the function to transmit the frame that is registered in the transmission block to the port designated by
a user.
2) If the startup conditions of the block are On, the connection request will be sent to the server and the frame
registered in the transmission block will be sent to the corresponding port.
3) In the case of UDP, when the startup conditions are On to the corresponding port without connection
request, the frame will be transmitted.

Operation of P2P service

After setting P2P parameters, you need to download the parameters to the PLC’s CPU and start up the P2P service.
Assume that the P2P parameters to be downloaded are already made and accesses to the PLC’s CPU.
If you choose [Online]  [Write] in the SoftMaster menu to download the completed P2P parameters, the
window for parameters download will pop up. If you click the ‘OK’ button, the communication parameters will
be downloaded to the CPU. if you check ‘Set up with Link Enable’, Link Enable can be applied with writing
P2P/HS parameters at the same time.

Built-in
(1) Startup of P2Pservice

After downloading P2P parameters, you need to start up P2P for P2P service. To achieve this, choose
[Online] [Communication Module Setting][Link Enable (high speed link,P2P)] in the menu.
Choose the P2P parameters to be started in the [link Enable (high speed link, P2P)] window. If you cancel
the already checked P2P parameter, the relevant P2P service will stop.

P2P diagnosis function
below figure.

Built-in
5) Then, the status window by service is displayed.

6) If you select the P2P service tab, you can check the status of P2P service as below.
Remaks
We support Dedicated Service in case of Only TCP client which Connected to MLDP server
Dedicated Service not available in MLDP Server(UDP)
However, the MLDP client (UDP) can check diagnosis history from P2P service.

High Speed Link(HSL)

Outline
The high speed link that is the communicate method between ML50 PLC and 2MLI PLC’s communication
module is the function to transmit and receive data regularly by setting high speed link parameters. The high
speed link service transmits the frame to Subnet Broadcast by using UDP protocols.
The device that is in the same subnet receives the Broadcast frame and if the relevant frame is registered in
the reception list, the data will be processed. The functions of the high speed link are as below.
1) Function for setting the high speed link block

If there are several transmission · reception areas, you can set the blocks up to 64. It is possible to set 200
words per one block.
2) Function for setting the transmission cycle
A user can set the transmission cycle by parameters. It is possible for a user to set the transmission ·
reception cycle from 20ms to 10 seconds.
3) Function for setting transmission · reception areas
You can set the transmission · reception areas by data blocks. It is possible to use the maximum of 64
blocks without distinction of transmission·reception.
4) Function for providing the high speed link information
You can check the operating status of the high speed link through flags.
You also can use the convenient diagnosis function through SoftMaster.
Parameters setting
(1) When creating the SoftMaster project, any RUN communication modules are not registered in the basic
network.
[Fig. 1.8.1] Creation of SoftMaster project

Built-in
(2) If you execute I/O synchronization in [online][diagnosis][I/O information] after accessing to the PLC, even
the currently installed expansion communication module including built-in communication will be registered.
[Fig. 1.8.2] Registration of SoftMaster project communication module
(3) Double-click the built-in Fenet and input high speed link’s exchange number and network parameter
information.
[Fig. 1.8.3] Setting the basic communication module

(1) Communication setting
clicking the right mouse
[Fig. 1.8..4] Basic setting of high speed link

After clicking the right mouse on the high speed link tab, add high speed link communication items
as shown in the left side of the figure[1.8.4].
Then, the window for setting communication modules is activated as shown in the right side of the
figure[1.8.4] and you can set the basic high speed link. No.01 high speed link is the built-in FEnet and No. 02 and
03 .high speed links can be used for expansion communication modules as before.
Double click
Selection of period type
[Fig. 1.8.5] Completion of setting high speed link communication module
Select the cycle to be communicated in communication cycle setting as shown in the left side of
[Fig. 1.8.5].Choose the cycle and click ‘OK’ button. Then, if you double-click the No.1 module of high speed
link, the window for setting block will be displayed as shown in the right side of [Fig. 1.8.5].

Built-in
(2) Setting the high speed link transmission block
[Fig. 1.8.6]Setting high speed link transmission block
Set the station type as MASTER

Choose the transmission mode
If you choose transmission, it will be automatically set as the exchange number set in the basic
parameters.
Input the block number(range: 0~31).
Input the area to be read. The area to be read is the each area of ML50’s CPU modules.
If you input the word size of the area to be read, setting transmission blocks is completed.

(3) Setting high speed link reception block
[Fig. 1.8.7] Setting high speed link reception block

Set the station type as MASTER as show in [Fig. 1.8.7].
Choose the mode as reception.
Input the exchange number.This one is the exchange number of the opposing device transmitting
the relevant block.
Input the block number. When the received frame is the same as the relevant block number,
reception is processed.
Input the storage area. The storage area is the area saving data when the frames of the relevant
block
Numbers are received to each area of ML50 CPU modules.
If you input the word size of the data to be read, setting reception block is completed.
(4) HS parameter download

If you choose [Online] -> [Write] in the SoftMaster menu to download the completed HS parameters, the
window for parameters download will pop up. If you click the ‘OK’ button, the communication parameters
will be downloaded to the CPU. If you check ‘Set up with Link Enable’, Link Enable can be applied with
writing P2P/HS parameters at the same time.
(5) High speed link Enable
[Fig. 1.8.8] High speed link Enable

Built-in
Choose [Online][Communication module setting][Link Enable] after accessing to the PLC through
SoftMaster.
Choose high speed link 01 that built-in FEnet is designated as the base.
After clicking the checkbox, click ‘Write’ button.
If you click the ‘OK’ button after the message is output, high speed link communication will start.
The high speed link service is the function for data exchange between communication modules of more than
two stations. For a user’s information, it provides the way how to check the status of the high speed link
service aiming to verify the reliability of the data read from the opposing station through the high speed link.
For the high speed link information, the communication module inform a user whether the high speed link is
operated based on the parameters set by the user by synthesizing received data every a certain time.
The high speed link information can be divided into RUN-link (_HSxRLINK) showing the information of the
whole communication network; Link-Trouble (_HSxLTRBL)’s whole information; _HSxSTATUS, _HSxTRX,
_HSxMOD, _HSxERR’s individual information showing the communication status by 64 registered items of
the parameters.
A user can use the above information during programming in the format of keywords and monitor the status
of the high speed link by using the monitoring function. When operating several PLCs with the high speed
link, you need to verify the reliability of the transmitted·received data by using the high speed link information
such as RUN-link, link-Trouble, etc.
[Table 1.8.1] shows the functions and definitions of the high speed link information.
Transmissio Status of
Operation
Items RUN-Link Link-Trouble n · reception Error high speed
mode
status link
Information General General Individual Individual Individual Individual
type information information information information information information
Keyword
_HSxSTATUS
name _HSxTRX[n] _HSxMOD[n] _HSxERR[n]
_HSxRLINK _HSxLTRBL [n]
(x=high speed (n=0..64) (n=0..64) (n=0..64)
(n=0..64)
link No.)
Data type Bit Bit Bit-Array Bit-Array Bit-Array Bit-Array
Monitoring Available Available Available Available Available Available
Use of
Available Available Available Available Available Available
programs
[Table 1.8.1] High speed link flag

(1) RUN link flag

It is the whole information showing whether the high speed link works normally based on the parameters
set by the user. It is the contact that maintains the status of ‘On’ until Link Enable is ‘Off’ once it is ‘On’. It is
‘On’ under the following conditions.
▪In case Link Enable is ‘On’.
▪In case all parameter registering lists are set normally
▪In case all relevant data is transmitted and received to the parameter registering list based on the set
cycle.
▪In case the status of all opposing stations set in the parameters is RUN with no error.
(2) Trouble link flag

It is the information showing whether the high speed link works normally based on the parameters set by
the user. Under the situation of RUN-link On, when the conditions of RUN-link On are violated, it will be
‘On’; when the conditions are recovered, it will be ‘off’.
(3) Flag displaying the general status of the blocks

It is the individual information showing the operating status of the resisted lists of the high speed link
parameters. It displays the status of high speed link by registered lists up to 64 like the maximum number
of registrations. It displays the general information for the registered lists by synthesizing individual
information of each item. When the transmission · reception status of the relevant list is normal and the
operation mode is RUN with no error, it will be ‘On’; when the above items are violated, it will be ‘Off’.
(4) RUN operating mode flag of the block station

parameters. It displays the operating mode information by registered lists up to 64 like the maximum
number of registrations. When the station of the registered items is under Run mode, the relevant bit will
be ‘On’; when the station is under Stop/Pause/Debug mode, it will be ‘Off’.
(5) Flag displaying the block station and normal communication

parameters. It displays the transmission · reception information of the registered list up to 64. When the
transmission · reception operation works based on the cycle, the relevant bit will be ‘On’; when the
operation does not work normally, it will be ‘Off’.
(6) Operation error mode flag of the block station

parameters. It displays the error information of the registered list up to 64 the maximum number of
registrations. The error synthetically indicates the situation that the PLC cannot execute the user programs
normally. When it is Off, it means the opposing station’s PLC works normally; when it is On, it means the
opposing station is abnormal.

Built-in
The below table indicates the limitation guaranteeing the high speed link’s transmission speed. When you set
the high speed link, refer to the below table to determine the communication load. In case of going out of
the limitation, the data may be transferred, exceeding the transmission cycle.
(Communication speed: 100Mbps)
Based on 200 words per block Based on 100 words per block Based on 50 words per block
Cycle Scan time Blocks No. Cycle Scan time Blocks No. Cycle Scan time Blocks No.
Less than 1 ms 12 blocks Less than 1 ms 24 blocks Less than 1 ms 32 blocks
20 ms 20 ms 20 ms
Less than 10 ms 1 block Less than 10 ms 4 blocks Less than 10 ms 8 blocks
50 ms 50 ms 50 ms
100 ms 100 ms 100 ms
Less than 1 ms 32 Blocks Less than 1 ms 32 Blocks Less than 1 ms 32 Blocks
200 ms 200 ms 200 ms
500 ms 500 ms 500 ms
1s 1s 1s
5s 5s 5s
10s 10s 10s
※ The above values are based on using high speed link only.

Remote communication
Outline
It is the function to realize remotely programming, user program download, program debugging, monitor, etc. in
the network system where the PLCs are connected with each other through Ethernet without moving physical
connection of SoftMaster.
For the devices that are far from the network, it is the convenient function to access to each device in one place
without translocation. You can execute SoftMaster’s remote communication service by creating the logical path
as below.
If the Ethernet module is installed in the PC where SoftMaster is running and it is connected to the same
network with the PLC in the above figure, you can perform the remote 1-stage access through Ethernet.
Assume that the Ethernet cables are connected to the PLC #1 station in SoftMaster and PLC #1, PLC #2, PLC
#N are connected with each other through Ethernet.
To access the details of the PLC #N station in the above figure, set the access method as Ethernet in access
setting of SoftMaster’s online menu and input the relevant PLC #N station’s IP and remote stage. In this status,
you can realize all functions in the PLC #1 such as programming, download, debugging and monitor, etc.
If you use SoftMaster’s remote communication service, you can access easily without moving to the distant
PLC. In addition, although the PLC is located in the inaccessible position, it is possible to access from the other
PLC so easy access can be realized after installation.

Built-in
Setup and Access of SoftMaster

You can access all PLCs that access to the MLDP network through SoftMaster communication service. The
SoftMaster remote access is composed of 1-stage access and 2-stage access.
The below figure describes the remote 1-stage and 2-stage access methods.
The above figure shows the example of 1-stage (PLC B) and 2-stage (PLC E) access in the system
composed of two networks.
If the PC where SoftMaster is running is connected to the PLC through network, you can perform the remote
1-stage access through Ethernet without connecting RS-232C to the PLC’s CPU.
[Fig. 1.9.1] Remote 1-stage access system through the PC

[Fig. 1.9.1] shows the case that the PC and the PLC are connected through Ethernet. In this case, you can
access to all PLCs in the network. The local access is omitted and the remote 1-stage access is performed
for all PLCs. You need to choose the connection options and change settings as shown in the below dialog
box in order to the direct and remote 1-stage access through Ethernet.

[Fig. 1.9.2] Direct and remote 1-stage access in the PC
(1) Access Method

You can select the access methods. In [Fig. 9.2.6], Ethernet is used for access instead of RS-232C so
choose Ethernet.
(2) Access stage
You can determine to connect with the PLC through remote 1-stage or 2-stage. In this case, you need to
choose 1-stage.
(3) IP address
Record the IP address of the FEnet I/F module to be accessed.
(4) All further processes are the same as the case using RS-232C.
Click the OK button and choose ‘Access’ in the online menu

Built-in
It is possible to realize the remote 2-stage access through Ethernet. The method is the same as the remote
1-stage and the example of setting access options is as below.
[Fig. 1.9.3] Direct and remote 2-stage access in the PC

Notice
Instructions for remote 1-stage/2-stage access
(1) In case the currently open project in SoftMaster is not matched with the accessed 1-stage and 2-
stage CPU types, the following menu items are not available.
a) Write program and each parameter
b) Read program and each parameter
c) Monitor
d) Link Enable setting
e) I/O information
f) Forced I/O information
(2) Open the project to be accessed and execute remote access when programming SoftMaster을
through remote 1-stage and 2-stage access.
(3) The remote access is supported up to 2-stage only and further remote access is not allowable.
(4) In case of writing parameters after modifying communication parameters through remote access, the
modified parameters will be applied only after disconnecting remote access.
(5) IP Scan is not supported in Remote 1(Only supported in Local connection)

SoftMaster Local Ethernet

It is possible to read and write the program faster than previous remote connection.
Remote 1,2 are not provide by Ethernet local connection.
1) Local Ethernet connection from PC connected to Ethernet
-If PC with SoftMaster is connected and PLC is connected, you can connect Ethernet locally to PLC without connecting
USB.
Local connection by Ethernet

2)Local Ethernet connection
SoftMaster-[ONLINE]-[Connection setting] and choose local
Click [Setting] and input IP Address. Initial IP adress is 192.168.250.120 .

Built-in
Scan IP Address make it possible to search the IP set information.

If you select Scan IP, the IP of the PLC connected to the current PC or network is displayed as shown below.
Select the IP of PLC you want to connect and press OK.
After setting, You can connect PLC
Notes
1. Local Ethernet provided ver

(1) MLU-DN32H2/HP
(2) MLI-DN32Ux (O/S V1.6 or above)
2. host name is not provided
3. MLL-EMTA do not provide Auto scan and IP Scan
4. You can access PLC only by remote connection or local connection
In case of use connection, multi-connection is available.

E-mail Transfer(SMTP)
Outline of the Simple Mail Transfer Protocol(SMTP)
ML50 high-performance module PLC supports the Simple Mail Transfer Protocol (SMTP). The SMTP is the
protocol to send the E-mail on the Internet. The using TCP Port is No.25. In the SMTP that is the text-based
protocol, not only request/response messages but also all characters should be 7 bit ACSII.
If the system has some problems, E-mail service is required to inform the administrator of the state remotely
through the mail. When the CPU’s state changes during operation or events occur, you can inform the
administrator of the state through the mail server. The E-mail service is also available in common mails and
you need to configure the separate relay server to send a common mail.
To use the common E-mail service, the configuration for using E-mail is needed. To transfer a common mail,
you need to encrypt the mail for security but it is not easy for the PLC to treat this process so that is why you
have to use the SMTP relay server. The SMTP relay server accesses to the common E-mail server by using
the mail information transferred by the PLC and send the mail in place of the PLC. Therefore, as shown in
[Fig. 11.1.1.1] E-mail transfer process, you can send the mail through the SMTP relay server.
[Fig. 11.1.1.1] E-mail transfer process

For some email account, because it limits the mail
sent through the multi-connection,
Maximum concurrent
8 some mail(occurred simultaneously by the PLC
connection number
using the same account server) may not be
transmitted.

Built-in
The following is the flow chart of E-mail transfer. As shown in [Fig. 11.1.1.2] Flow chart of E-mail transfer, in order to
transfer a mail, you need to install the SMTP relay server and set up E-mail parameters through SoftMaster and meet
the start-up conditions to send the mail. If the start-up conditions are met, the mail information is sent to the SMTP relay
server and then, the SMTP relay server substitutingly goes through authentication process and sends the final mail to a
recipient. The mail recipient can see the ID and title, details of the E-mail set in SoftMaster.
Start
Install the SMTP relay server
XG5000 E-mail parameters

setting
No
Creation of mail start-up
condition
Yes
Transfer the mail to the SMTP
relay server
Transfer the mail to the SMTP

recipient
Receiving the mail is done
End
[Fig. 11.1.1.2] Flow Chart of E-mail transfer
Notice
(1)The SMTP relay server and PLC should be connected to the Ethernet network. The SMTP relay
server sends the mail to a recipient in place of the PLC.
(2) For more details on setting, refer to 1.11.2 E-mail Setting.

E-mail Setting
In order to use the common E-mail function, you need to set up the E-mail parameters and relay server.
You need to set up the SMTP relay server to use the common E-mail as shown below.
In order to set up the relay server, first of all, you need to download the relay server program. You can
download the relay server program from Honeywell’s website – Customer Support – Download Materials
(SMTP relay server).
- English website: contact to Honeywell
(1) Installaiton of the relay server

Procedures Description
Program
execution
1) After downloading the program to set up the SMTP relay to the PC where you
want to configure the relay server, double-click SMTPRelay.msi.
2) After clicking the Next button in the SMTP Relay window, if you select the
remaining processes properly and click the Finish button, installation will be done.
SMTP relay
server
operations
2
1) If you double-click the ‘SMTPRelayServer’ icon on the desktop,

the program will run as shown in the SMTP Relay server window.

Built-in
(2) Setting to use the relay server

After installing the relay server, you need to register the relay server program in Windows as show below.
Firewall setting
1
1) Click Windows – Control Panel – Windows firewall.

2) Through ‘Windows Firewall’ in the upper-left of the Windows firewall setting screen,
click the Program or Firewall Enable.
Firewall Enable
2
Find the program called ‘SMTPRelayServer’ and check all items of domain,
home/company(individual), common areas and then, click the ‘OK’ button.
Notice
(1) After the SMTP relay server setting is completed, in the E-mail setting window of 1.11.2 E-mail
Setting, you need to input the IP address of the current PC for the IP address of the SMTP relay
server information.

You can use the E-mail function of the P2P service as shown below.
Add P2P
1
After selecting [Embedded FEnet] in SoftMaster’s project window, click on the right mouse button
and then, select [Add Items] →[P2P communication].
Creation of
2 P2P
When the P2P selection window is created, after selecting No.2 slot, click the ‘OK’ button.
Notice
(1) In the P2P view tab, E-mail can be set up in the same way.

Built-in
E-mail
setting
3
1) Double-click ‘E-mail’ in the P2P setting project window.

2) Set up the values referring to each E-mail’s set value.
3) After setting parameters in the E-mail setting window, click the ‘OK’ button.
E-mail setting values

Item Description
It determines whether using the E-mail service or now. To start the
Using E-mail
E-mail service, you need to check this item.
To send the mail to the common mail server, you need to check
Using SMTP relay server
the SMTP relay server item.
It sets up the user name displayed when the other part received
User name the mail. If you set up the user name with the PLC, the sender
name will be displayed as the PLC.
User
It is the recipient’s mail address when pressing ‘Reply’. It indicates
information
Mail the transmitting mail server composed of the user name and mail
address server. You can also set up that the PLC sends data and a normal
PC receives the reply.
SMTP relay When checking the SMTP relay server item, you can fill in this.
IP address
server Enter the IP address to relay.
information Port Number You can input the port No. of the relay server. The port is No.25.
SMTP server It means the SMTP server’s address. For example, Gmail’s
address SMTP server address is ‘smtp.gmail.com’.
SMTP Port number It means the SMTP server’s port No. Gmail uses No.465.
server Account You can input the registered account name to the SMTP server.
information name
You can input the password of the registered account to the SMTP
Password
server.

The below table provides the address and port No of the common SMTP server. Input the address and port
No. of the desired server to the SMTP server information.
SMTP server SMTP server address Port No.

Google smtp.gmail.com 465
Yahoo smtp.mail.yahoo.com 25
Naver smtp.naver.com 465
The event information monitors the CPU’s state periodically and keeps track of the state information. In case
the PLC stops or errors occur, communication parameter does now work so in preparation for such a
situation, the optional service is provided.
Item Description
Message
It should be set as 10 seconds or more. It is the time to check
monitoring
whether the PLC’s mode has been changed.
cycle
RUN => It is the option that the embedded Ethernet sends the E-mail by
Event
STOP itself when the PLC’s mode changes from RUN into STOP.
information
STOP => It is the option that the embedded Ethernet sends the E-mail by
RUN itself when the PLC’s mode changes from STOP into RUN.
It is the option that the embedded Ethernet sends the E-mail by
ERROR
itself when some errors occur in the PLC.
Notice
(1) When sending the mail through the SMTP relay server, there may be the common E-mail server
that can send the mail only when the SMTP server information’s ‘SMTP server address’ and ‘account
name’ are matched with the user information’s ‘mail address’. Accordingly, check the mail server’s policy
and input the user information’s ‘mail address’ based on the policy.
(2) The account name and password of the SMTP server information should be registered in the SMTP
server. If you do not have any account, please register the account in the mail server for use.
(3) For more details on the address and message No. of the event information, refer to (1) Writing an
address book and (3) Writing message.
(4) You may need to enable SMTP at the server site where you want to use SMTP, or you may need
additional settings such as allowing less secure applications

Built-in
(3) Wirting an address book

You can write the recipient’s mail address used for the E-mail service as shown below.
Create the
address book
After selecting [Embedded FEnet] in SoftMaster’s project window, double-click

the address of [P2P 02(embedded)] or double-click the address of P2P No.2
in [P2P View].
Register the
address
In the window for setting E-mail address book, register the address to which you
want to send the mail. If you select ‘Edit’. The address edition window will pop
up. If you enter the name and mail address in this screen and select the OK
button, registration of the address will be done.

(4) Registration of group address

If you want to send the mail not to individual but to the group, you can set up the group address as shown
below.
Create group
1
<Address book>
1) Double-click the address of P2P No.2.
New group name
Selecting member
Register group Selection of a blank
Click
2 After selecting to a blank of [Address book], select [Address book]- [group],

the edition window for E-mail address book’s group will be created. The details of
the group edition window are as shown below.
1) Group name: Name of the group to create newly
2) Contact information: Currently registered addresses
3) Members: Addresses to be included to the group
4) Select: It adds the addresses selected from the Contact Information to the
Members.
5) Delete: It deletes the addresses selected in the Members from the Group.
After selecting the addresses to add to the group in the Contact Information,
if you click [Select], you can see the addresses are added to the Members.

Built-in
Confirm
creation of the
3 group
If you click the OK button in [Group Edition], the group list added newly to the address book
will be displayed with the individual addresses.

(5)Writing the message

You can write the mail message used for the E-mail service as shown below.
Create the
message list
1) After selecting [Embedded FEnet] in SoftMaster’s project window, double-click the

message of [P2P 02(embedded)] or double-click the message of P2P No.2 in [P2P
View].
Write
messages
2 Click the ‘Add’ button in the E-mail message editing window and input the details to send.
The configuration and details of E-mail edition are as shown below.
1) Format: Selection of the message type
- STRING: Selected when the transferred message is a string type
- MB: Selected when the transferred message is a device type
2) Size: It is activated only when the format is [MB]. It means the size of Byte.
3) Data: It is activated only when the format is [STRING]. You can input the test
to send.
4) Line break: Means the break of a message line.

Built-in
Confirm
creation of
messages
3
When the creation of the message is complete, the title will be added to the list of
e-mail messages index.
Notice
(1) The format of an E-mail message can be divided into String and Byte data received from the CPU.
The MB type is used to send the P2P ESend parameter’s message data as many as the number of bytes
set in the Size.
(2) The line break includes the command to write on the next line when outputting the message in the
received screen.

(1) P2P block setting

For the actual E-mail service, you can create the mail address book and message written above in the
P2P block as shown below.
P2P block
1
After selecting [Embedded FEnet] in SoftMaster’s project window, double-click [P2P block]
of [P2P 02(embedded)] or double-click [P2P block] of P2P No.2 in [P2P View].
Make P2P block
1) In the P2P parameter setting window, tick the [E-mail] checkbox.

2) Select [ESEND] in P2P functions.
3) Set up the start-up conditions to transfer E-mail.
Setting
3
Click the setting button to set up each variable.

For more details, refer to ‘E-mail variables’
4 If you click the [OK] button, the parameter settings to transfer E-mail will be done.

Built-in
The details of E-mail variables are as shown below.

Item Description
E-mail It enables you to use the E-mail service.
ESEND It sends the E-mail.
P2P function
ERECEIVE It receives the E-mail.
Enter the index No. of the message list among E-mail settings of P2P and
Mail message No.
determine the mail tile and data.
Establish the registration No. set in the address book and decide to
whom.
* If you want to send the mail to several people, you can set up
Mail address No.
grouping. In this case, the recipient’s mail address should be input in
Transmission
advance before grouping. The maximum number of groupings is limited
Setting
to 10EA or less.
It means the start address of the data to send. In terms of the size of the
transmitted data, starting with the first part, the mail is transmitted as many
Mail data
as the number of arrays corresponding to MB[10] among E-mail
message settings.
Mail information It is the area where the mail information is saved.
Reception
Mail message It saves the received mail message to the PLC memory.
Notice
(1) The receiving pare is not supported in settings.

(2) Writing parameters

After parameter setting for the E-mail service is completed, you can apply the parameters to the PLC as
show below.
Write
parameters and
1 Link Enable
Select [Online] → [Write] in SoftMaster’s project window. After checking [Set together
with Link Enable] in the [Write] window, check ‘Link Enable’ in P2P 02(embedded).
2 If you click the [OK] button, ‘Write Parameters’ and ‘Link Enable’ will be done.
Notice
(1) If you set up the parameters for the SMTP relay server to use common E-mails
(Gmail, yahoo, etc.), you need to set up for SMTP relay server.
- Refer to (2) Setting to use the relay server of 1.11.2 E-mail Setting

Built-in
Time synchronization(SNTP)
Outline of the time synchronization protocol
The ML50 high-performance PLC supports the NTP(Network Time Protocol) that obtains the time information by
accessing to the SNTP(Simple Network Time Protocol)server and synchronizes time. The NTP is the protocol to
synchronize the time of the PLC connected to the network.
SNTP server parameter setting

You can set up the parameters to use the SNTP server function as shown below.
Setting
for SNTP
1)Input the [TCP/IP setting] parameters in the FEnet basic setting window.
- Enter the IP address, subnet mask, gateway, DNS server address.
- This address is commonly used for P2P service, high speed link service,
remote service, FTP, SNTP service, etc.
2) Check [SNTP Time Synchronization Enable].
3) Then, set up the SNTP server’s IP address and Port No., synchronization cycle, UTC time
setting.
Write
parameters
and
2 Link Enable
1) Select [Online] → [Write] in SoftMaster’s project window.

2) If P2P Enable is needed, after checking [Set together with Link Enable]
in the [Write] window, check ‘Link Enable’ in P2P 02(embedded).
3 If you click the [OK] button, ‘Write Parameters’ will be done.

Notice
(1) When parameter setting is done, the PLC reads periodically the time value from the SNTP server.
(2) In the SNTP server’s IP address, the initial ‘203.248.240.140’port is set as ‘123’.
This is the open SNTP server called ‘Time.bora.net’.
(3) If you want to use other SMTP servers, change the IP address and port No. of the SNTP server
before input. Below is an example of public NTP server and port..
Server address IP Port Support

time.apple.com 17.253.6.243 123 Apple
time.asia.apple.com 17.83.253.7 123 Apple
time.euro.apple.com 17.72.148.52 123 Apple
ntp.kornet.net 168.126.3.6 123 KT(Korea)
time.kriss.re.kr 210.98.16.100 123 KRISS(Korea)
time.nuri.net 211.115.194.21 123 inethosting(Korea)
time.nist.gov 132.163.4.102 123 NIST(Korea)
time.windows.com 191.233.81.105 123 MS
1.kr.pool.ntp.org 211.233.40.78 123 Navyism(Korea)
1.asia.pool.ntp.org 125.62.193.121 123 Navyism(Korea)
(4) If you cannot use a public NTP server, Please setup a local NTP server refer to ‘1.12.3 How to
setup a local NTP server’.

Built-in
How to setup a local NTP server

If you cannot use a public NTP server, Please setup a local NTP server as follows:
HKEY_LOCAL_MACHINE\SYSTEM\CurrentControlSet\Services\W32Time\TimeProviders\NtpServer
HKEY_LOCAL_MACHINE\SYSTEM\CurrentControlSet\Services\W32Time\Config

Run the Control Panel.

Run the Window Firewall
When you run the Advanced Settings. screen will pop up as shown below.
Select inbound rules.
Select the new rule in the top right.(New Rules)

Built-in
Select the port and click Next button.
Select UDP(U) and Special local port(S). Input ‘123’ and click Next button.
Select Allow connections(A) and click Next button.

Please select the checkbox to meet your security policy, and click Next button.
Input the server name(anything) and description and click Finish button.
9) Select the [Start] button of Windows for execution(Shortcut Key /Windowskey + R)

10) Enter ‘CMD’ and click Confirm.(Administrator)
11) In the command window, Input ‘net stop w32time’and press Enter key. And then, also input ‘net start w32time’and press
Enter key.
12) Input ‘ipconfig’ and press Enter key in the command window to find out the IP address of NTP server.
13) Setting the parameters using IP address of NTP server.(refer to ‘1.12.2 SNTP server parameter setting’)

Built-in
Trouble Shooting
It describes errors that may occur during system operation and provides the causes of errors, corrective measures. You can
check whether there are some problems with the ML50 embedded Fenet and the details through the below procedures.
Please note that we do not provide after-sales service for discretionary repair or disassembly based on the Quality Policy.
Problem Corrective Measures
1. Check whether the cables clicked inserted.

In case LINK/ACT LED
flickers or is not turned on
2. Check whether the XG-PD parameters are already downloaded.
after connecting to network.
☞ In case XG-PD’s communication basic parameters are not
downloaded, you cannot set up Full Duplex /Half Duplex communication.
In case the LINK/ACT,
SPEED LED are still turned
Off, although you download
Module defect is suspected so follow-up service may be required.
parameters after supplying
power and connecting
network
1. Check the communication speed(Auto/10/100M-TX) .
It should have the same communication speed with the opposing device
to be communicated.
☞ In case the device with Auto Negotiation and the device with manual
speed are mixed in the network, the former recognizes the latter as Half
Duplex(standard specification of IEC 802.3u)
2. Check the IP address settings. The IP should be valid in the network.
In case Read/Write Data do ☞ In case the set IP addresses are overlapped in the network or invalid
not work during dedicated IP exists, communication is impossible.
services 3. Check the driver(dedicated, Modbus TCP/IP) settings.
☞ You should apply the same protocols with the opposing device.
4. Check whether the opposing device’s IP is registered in the host table.
☞ When the opposing device’s IP address is not registered under host
table Enable, communication does not work.
5. Check the MAC Address
☞ In case the MAC Address is abnormal, communication does not work.

Problem Corrective Measures

1. Check the communication speed(Auto/10/100M-TX).
It should have the same communication speed with the opposing device
to be communicated.
☞ The communication speed in the network should be same or set as
Auto for communication.
In case transmission 2. Check the IP address settings. The IP should be valid in the network.
-reception is impossible ☞ In case the set IP addresses are overlapped in the network or invalid
during high speed link IP exists, communication is impossible.
service 3. Check whether the high speed link’s parameters are set.
☞ In case the parameters are not set; or the set exchange numbers are
overlapped in the network; or you have wrong block setting or block
number, communication is impossible.
4. Check the Link Enable
☞ The frame can be transmitted only when the Link Enable is set.
1Confirm communication speed (Auto / 10 / 100M-TX)
☞Communication is possible if the communication speed on the network is the
same or set to Auto.
2.Verify IP address settings
☞Communication is not possible if the IP address is duplicated on the
network or is invalid.
3.Confirm whether P2P parameter setting
☞Communication is possible only when P2P parameter channel and block
are set.
4.Checking the other party's IP address in the P2P channel setting
In case of P2P service,
☞Communication is not possible if the IP address of the other device is not
Not working
valid
5.Check Driver Settings
☞The communication protocol must be set the same as that of the other
device of the corresponding channel.
6.Check Link Enable Settings
Send frame when link enable is set
7.Confirm whether operation condition is working
☞If the activation condition set in the block is ON,
8.Check base unit operation mode
☞Basic unit operation mode should be RUN


Chapter 2 Built-in Snet communication
Chapter 2 Built-in Snet Communication
Ultimate performance MLU Main Unit has built-in RS-232C 1 channel and RS-485 1 channel.
Main characteristic of built-in Snet is as shown below.
(1) By using SoftMaster operated in window environment, since the user can write communication speed, communication
mode (protocol), connection with external device is easy.
(2) RS-232C 1 port, RS-485 1 port as main unit built-in Snet is supported.
(3) It operates independently according to channel. Since protocol data written by user is managed by main unit, in case
communication module is changed, additional setting/download is not necessary.
(4) Device read/write by using ML dedicated/modbus/user defined protocol is available.
(5) It provides communication function in which multidrop, up to 32 connection is available in case of using RS-485.
(6) Setting of diverse communication speed is available. (1200,2400,4800,9600,19200,38400,57600,115200bps)
(7) 1:1 and 1:N communication are available.
(8) With abundant self-diagnosis, trouble diagnosis is simple.
(9) It supports dedicated server/client, modbus server/client, user defined communication function.

Specification
Item
Channel 1 Channel 2
Serial communication
RS-232C RS-485
method
Modem connection
- -
function
Act as communication client
- ML dedicated protocol client
Operation
P2P - Modbus ASCII/RTU client
mode
- User defined communication
(Operation
- Others
define by
channel) - ML dedicated protocol server
Server
- Modbus ASCII/RTU server
Data bit 7 or 8
Data
Stop bit 1 or 2
type
Parity Even/Odd/None
Synchronization type Asynchronous type
Transmission speed
1200/2400/4800/9600/19200/38400/57600/115200 bps available
(bps)
Setting range: 0~255 Notes2)
Station No. setting
Max. station No. available: 32 stations
Transmission
Max. 15m Max. 500m
distance
Diagnosis function Check available by SoftMaster diagnosis service
Notes
Notes) When consisting Client and server, max. 32 stations is possible. Station No. can be set up 0 to 255.

No. Item Description

RS-485
① Built-in RS-485 connection connector
connection terminal
RS-232C
② Built-in RS-232C connection connector
connection terminal
Signal direction
Pin No. Name Description Function Description
(ML50U ↔ External Device)
1 485- 485 – Signal Built-in RS-485- Signal
2 485+ 485 + Signal Built-in RS-485+ Signal
3 SG Signal Ground Signal ground
4 TX Transmitted Data Built-in RS-232C transmitted data signal
5 RX Received Data Built-in RS-232C received data signal

When connecting in null modem mode, connect 3-wire system as follow.
Computer/
Snet(9-PIN)
Connection number and signal direction communication device
Pin No. Name Name
3 SG SG
4 TX TXD
5 RX RXD
Pin No. Name Signal direction External communication device

1 485- 485-
2 485+ 485+

When using communication channel, RS-485, twisted pair cable for RS-422 shall be used in consideration of
communication distance and speed.RS-485.
[Table 2.2.1] describes recommended specifications of cable. Also when using other cable than recommended, the cable
conforming to characteristics in [Table 2.2.1] shall be used.
• Product : Low Capacitance LAN Interface Cable
• Type : LIREV-AMESB
• Size : 2P X 22AWG(D/0.254 TA)
• Manufacturer: LS Cable
(1) Electrical characteristic

Item Standard Test conditions
Withstanding voltage No destruction 500V/1min
Insulation resistance 1,000 ㏁.㎞ or above 20 ℃
Static electricity capacity 45 ㎊/M or less 1 ㎑
Characteristics impedance 120  5  10 ㎒
(2) External characteristic

Item Unit Standard
Cores Pair 2
Size AWG 22
Conductor
Composition No./㎜ 7/0.254
Outer dia. ㎜ 0.76
Thickness ㎜ 0.59
Insulator
Outer dia. ㎜ 1.94
[Table 2.2.1] Snet twisted pair cable specification
Conductor
Ins ulator
AL/MYLER TA PE
Ground line
B raided
S heath
[Figure 2.2.1] Structure

In case of built-in Snet, each communication port operates independently to allow simultaneous Tx/Rx in separate
transmission specifications. Transmission specifications can be set per RS-232C and RS-485 channel, and the
operation is started and stopped according to channels. Data flow of each channel is as below.
RS-232C channel
RS-232C cable
TX
PLC
CPU RX
RS-485 channel
RS-422 cable
TX
PLC
CPU
RX
Note
(1) For mode change during RUN, download parameter by using SoftMaster.
(2) Though you don’t reset the PLC, if download is complete, changed mode is applied.

For communication via PLC built-in RS-485 channel, termination resistor from external must be connected.
Termination resistor has the function to prevent distortion of signal by reflected wave of cable for long-distance
communication, and the same resistance (1/2W) as characteristic impedance of cable must be connected to terminal of
network. When using the recommended cable in 2.2.3 connect termination resistor of 120 to both ends of cable.
Also when using other cable than recommended, the same resistance (1/2W) as characteristic impedance of cable must
be connected to both ends of cable
• Recommended termination resistor: 1/2W, 120Ω, 5% tolerance
[Termination resistor connection diagram for RS-485 ]
[Termination resistor Switch]

Communication system by using ML50 built-in communication function is diverse. In this chapter, it describes system
configuration example.
PC (HMI) and main unit are connected by RS-232C or RS-485 channel, PC (HMI) and PLC is connected by 1:1
without modem. In most case, PC (HMI) acts as client and Snet I/F module acts as server which respond request of
PC (HMI). Since there is no modem, in case of using RS-232C channel, communication distance is max 15m, in case
of using RS-422 channel, communication distance is max 500m. Operation mode of Snet I/F is set according to PC
(HMI)’s communication method.
ML50 main unit

built-in communication
• Wiring method
PC ML50 main unit
External form of Connection number and signal ML50 external
Signal
PC Pin no. direction Pin no. form
name
1 1 485-
2 (RXD) 2 485+
3(TXD) 3 SG
4 4 TX
5(GND) 5 RX
6
7
8
Female Type
9
In case of using channel 2, connect 485+ and 485- of RS485 terminal.

HCiR series
RS-485 I/F ML50 main unit
RS-232C I/F
• Wiring method (RS-232C)

HCi ML50 main unit
Connection number and ML50 external
XP external form Signal
Pin No. signal direction Pin No. form
Name
1 1 485-
2(RXD) 2 485+
3(TXD) 3 SG
4 4 TX
5(GND) 5 RX
6
7
8
Female Type
9
Note) In case of PMU, short no.4 and no.6, short no.7 and no.8.
• Wiring method (RS-485)

PMU Connection no. and signal direction ML50 main unit
485+ 485+
485- 485-

ML50 main unit ML50 main unit
RS-232C I/F
RS-485 I/F
• Wiring method
ML50 main unit Connection no. and ML50 main unit
ML50 external form
Pin No. signal direction Pin No. Signal name
1 1 485-
2 2 485+
3 3 SG
4 4 TX
5 5 RX

It is 1:1 communication system connected through dedicated modem through RS-232C channel with PC (HMI). Normally,
PC (HMI) acts as client station, Snet I/F module acts as server station which respond request of PC (HMI). Since it uses
modem, RS-232C channel should be set as dedicated modem and long distance communication is available. Operation
mode of this module should be set according to communication method of PC (HMI).
• PC and Snet #1 station is connected by modem through RS-232C channel

• Snet #1 station ~ N station is communication between Snet I/F module through RS-422 channel
• Snet #1 station ~ N station is Communication between Snet I/F modules through RS-422 channel
• PC acts as client station of Snet #1 station
• Up to max 32 station connection is available in case of Snet I/F module (RS-422/485 communication)
• It sets station 1 among Snet I/F module as server station
• Dedicate modem or dial-up modem available

Module setting
Type
MLL-C41A Station no.
P2P
PLC Snet #1 1
ML client
Snet #2 ~ #N ML server 2~N
• Null-modem communication by using PC (HMI) and RS-232C channel

• PC (HMI) acts as client station, Snet I/F module acts as server, at this time, module setting acts as RS-232C ML server
• Snet I/F module RS-422 channel acts as P2P mode.
• It transmits indication data to display module of mosaic panel through RS-422 channel
• Reading display transmission data from PC

Module setting
Type
MLL-C21A MLL-C41A Station no.
PLC Snet #1 ML server P2P 1

• Optical modem communication system for Snet communication on material above moving linearly
• P2P communication or dedicated mode communication with monitoring device
• RS-232C/RS-422 communication with optical modem
• Communication between Snet I/F module is dedicated server/client communication
• Optical modem connected with Snet I/F module on mobile body can communicate with the other optical modem only
when positioned in communication available
• Main application: Parking tower

• Wireless modem communication system for Snet communication on the revolution bodies
• RS-232C communication with wireless modem
• Communication between Snet I/F module is dedicated/client communication
• RS-232C channel of Snet I/F module is dedicated modem mode
Module setting
Type
RS-232C RS-422 Station
Dedicated mode
MLL-C21A Not used 2 station
User mode

To use Snet I/F function, communication parameter should be written by SoftMaster and the module should be
registered in SoftMaster. Method on register Snet I/F module is as follows according to On/Off line status.
First, after click Project-New Project and input project name, select ML50 as CPU series.

In the status PLC is not connected, in case the user set about communication module and write parameter related with
communication. In the “project” window, select “Undefined Network” and then click mouse right button. Select “Add
item – Communication module”. In the window, click “Add Module…” to register Communication module.
At this time, slot 0 is set as built-in Snet. (Slot 0 : Snet, Slot 1: Enet) Expansion module starts from slot 2.
[ Snet module registration ]

If you register communication module at online status by using SoftMaster, you should connect basic unit. After
[Online]-> [Connect] after doing communication setting by using “Online -> Connection settings” and doing local
connection. After setting PLC to STOP status, select [Online] → [Diagnosis] → [I / O Information] and perform I / O
synchronization.
[I/O information change message ]
If you Synchronize I/O, communication module will be registered.
[Communication module registration compete screen ]

The method to read basic setting value and P2P setting value of communication module saved in PLC is as follow.
While connecting to main unit, select [Project] -> [ Open from PLC ]. After setting “Online Settings”, click “OK” and
then the saved parameter and project in PLC is opened as follow.
[ Open from PLC ]

Communication function used in Snet I/F module is classified as followings.
Without other program at PLC, you can read or write information in PLC and data.
 It can act as ML server providing ML dedicated protocol and Modbus server providing RTU/ASCII protocol.
Snet I/F module acts as client in network.

 In case designated event occurs, you can read or write memory of other station.
 It can act as ML client and Modbus client.
 In case of sending/receiving user wanted frame and communicating with other device.
 You can define P2P block with max. 32 per one channel acting independently.
By using remote 1/2, you can monitor/download program about remote PLC.
To use Snet I/F module, you should set transmission specification such as data type like transmission speed and
data/stop bit.
You should select transmission specification of system to be same with specification of system.
Written standard setting value is saved main unit of PLC and this value keeps though power goes off and this value is not
changed before writing. Also though Snet I/F module is changed and new module is installed, the standard setting value
saved at main unit previously written is applied to new module automatically. Standard communication setting parameter
and P2P, all parameter is applied if download is complete.

When setting Snet communication parameter, the user should define as follows.
[Built-in communication standard setting screen ]

Item Setting content
Station no. • set from station 0 to station 255.
Speed • 1200, 2400, 4800, 9600, 19200, 38400, 57600,76800, 115200 bps available
Data bit • 7 or 8 bit available
• None, Even, Odd available.
Kinds Meaning NO
None Do not use parity bits
Parity bit
If the number of 1s in one byte is an even number, & quot; 0 & quot; is
Even
transmitted to the parity bit
Odd If the number of 1s in one byte is odd, "0" is sent to the parity bit
Stop bit • 1 or 2 bit available
Modem • When using dialup modem, the function is available. In case of modem communication, input the
initialization initialization instruction of applied modem.
• It is fixed as follows according to Snet type
1) Built-in communication → channel 1 : RS-232C , channel 2 : RS-485
Type
2) MLL-C41A → channel 1 : not used, channel 2: RS-422/RS-485
3) MLL-C21A → channel 1 : not used, channel 2: RS-232C
• It means the time from sending frame to receving.
Response
1) operation setting : it is available when active mode is set to “Use P2P”.
waiting time
2) waiting time : 100ms+(setting value × 100ms)
Delay time • It means that frame is sent at user-defined frame send timing with delay as setting delay time.
Setting 1) operation setting : it is available when communication type is RS-422/485.
Delay time • It means interval between characters in one frame.
between 1) operation setting : it is always available regardless of active mode.
characters 2) In case of that wating time is set to 0, it is applied 3.5 character time1) as communication speed..

*Operation mode setting

▪ Sets operation mode
Driver type Meaning Reference
Each port acts as client and executes the communication by setting P2P setting
P2P
P2P parameter. reference
ML server It acts as ML server supporting ML dedicated communication. Dedicated service
Modbus
Modbus ASCII server It acts as Modbus ASCII server
communication
Modbus
Modbus RTU server It acts as Modbus RTU server
communication
[ communication parameter setting item ]
Note
Character Time: It means the required time to send 1 character and it is variable depends on communication speed.
1) In case of that communication speed is 9600bps, how to calculate 3.5 Character Time
Character time = (number of bits of 1 character(11)/communication time) * 3.5
= (11/9600)*3.5
= 4.01ms

You should do like following to operate Snet I/F module according to communication specification defined by user. In case of
setting like the followings about MLL-C41A (RS-422/485 1 port) installed slot 3, setting method is as follows.
(1) Communication specification

 Channel 2: RS-485, 115200Bps, 8/1/Odd, Null modem, P2P, station 0, Response waiting time 100ms, Delay time 10㎳,
Waiting time between characters 0ms, ML server
(2) Executing SoftMaster, you register communication module Snet for setting at each slot position.
(3) After Snet module is registered, if you double-click Snet module, the following standard setting window shows.
[Communication module setting screen ]

(4) If standard communication parameter setting ends, download Snet module.
If you select [Online -> connection -> Write], download is executed. After downloading, parameter is applied shortly.
If you check ‘Set up with Link Enable’, Link Enable can be applied with writing P2P/HS parameters at the same
time.

In case PC executing SoftMaster is far from ML50 PLC, if you use remote connection function of Snet I/F module, you can
control remote PLC such as program download, upload, program debugging and monitor. Especially, in case SoftMaster is far
from PLC, if you use SoftMaster remote connection function and modem connection function of Snet I/F module, you can access
easily by remote connection through air line. Remote connection is supported at ML50 communication module, FEnet I/F module
and Snet I/F module. Connection between networks is available and you can control remote PLC through multiple connections.
There are two methods for remote connection by using Snet I/F module, first, SoftMaster is connected with Snet I/F module of
remote PLC through modem, second, SoftMaster and local PLC are connected into CPU through RS-232C, Snet I/F module of
local PLC communicates with Cent I/F module of remote PLC.
[Figure 2.5.1] is figure indicating remote connection example where SoftMaster and PLC are connected through modem. Like
figure, it is necessary configuration in case PC executing SoftMaster is far from PLC and telephone line and connected by
dedicated modem or wireless modem. At this case, you should connect Snet I/F module by modem from SoftMaster and you
should select modem as connection method at connection option. There are two methods, dedicated modem connection using
dedicated line and dial-up modem connection using public line.
(1) Dial-up modem connection

You can establish remote connection by connecting dial-up modem to PC and Snet I/F module (RS-232C). In PC side, you
can use external modem or internal dial-up modem and in Snet I/F side (RS-232C), you should use external modem.
Public line Public line

Tandem center
[Figure 2.5.1] SoftMaster remote connection example by dial-up modem

Remote connection sequence by using dial-up modem is as follows.

(1) Snet I/F module connected with PLC setting
a) Sets active mode of RS-232C channel of Snet I/F as ML server at SoftMaster.
b) Sets Modem type of Snet I/F module (RS-232C) as Dial-up modem and inputs atz in Modem Initialization.
[Figure 2.5.2] SoftMaster setting example

(2) SoftMaster setting

a) Execute SoftMaster and pop up online settings window by selecting “Online -> Connection settings”.
Here selects “Connection settings -> Type” as Modem.

(3) Dial up modem setting

a) Select settings of “Connection settings” and set detail of modem
b) Phone number means phone number of modem side connected with Snet I/F module, in case of going out from local
through extension line, you can use extension number and ‘,’ symbol.
(Ex) In case extension number is ‘9’: set as 9, 0343-398-xxxx
Note
Baud rate in modem settings means communication speed between PC and modem, not
communication speed of modem. Baud rate of modem means communication speed between
modem and modem, it is set automatically according to quality of public line and destination
modem’s speed.
For SoftMaster remote connection at ML50 PLC, you should use RS-232C channel. At
communication standard setting, set “RS-232C dial-up modem” and write it to ML50 Snet I/F
module.

In case of selecting connection step as remote 2, like the following, select base and slot number of remote 1 communication
module in detail and communication module station number of remote 2. Inputs station number set in Snet I/F module, In
case of Snet channel, selects communication channel of remote 2.
Remote 1 Remote 2
Communication Communication
SoftMaster
module module
Public
Public line
network Publicnetwork
Public line
Tandem center
Relay
c) Select connection on online after setting connection option, modem initialization dialog box shows and modem is
initialized.

d) In case setting of COM channel of modem or connection with modem is wrong or, the error message shows. At this time,
check COM channel or modem connection.
e) If making phone call is complete, SoftMaster tries remote connection. In case remote connection is complete, “Online”
menu is activated.
f) This case is same with connection status where connection is established through RS-232C cable. Here you can use all
function of online menu.
g) In case you want to disconnect remote connection, select disconnect at online menu. Then disconnection menu box
shows and remote connection is disconnected.
h) If connection is disconnected, SoftMaster quit call automatically and disconnection telephone connection.
i) If it is success to quit call normally, local and remote modems return to initialization status. You can establish remote
connection through making phone call.
Note
After remote connection, you can use online menu of SoftMaster like local connection. You can use
program download/upload/monitor function etc. PLC control through modem is affected by capability
of modem and status of telephone line. In case telephone line is bad, connection may be canceled.
At this time, don’t try reconnection instantly, wait for 30s and retry again from step 1)

2) Dedicated modem connection

The following figure indicates that PC and Cent module is connected by dedicated modem through dedicated line.
SoftMaster
Dedicated line
[SoftMaster remote connection example by dedicated modem]
This is example of dedicated modem connection by dedicated line. You can use wireless modem, optical modem other than
dedicated modem. For setting method of modem not using public line, it is same with case of dedicated modem and refer to the
followings.
Remote connection sequence by dedicated modem is as follows.

(1) Connects PC with dedicated modem at Snet I/F module
(2) Snet I/F module setting connected at remote PLC
a) Sets RS-232C channel of Snet I/F module as ML server.
b) Sets RS-232C channel operation of Snet I/F module as dedicated modem.
a) Execute SoftMaster and select “Online -> connection settings” and pop up online settings window. Here set “Connection
settings -> Type” as Modem. Press the “Settings” button and set communication channel and baud rate set in dedicated
modem connected with PC. Baud rate should be same with communication speed of dedicated modem.

b) In case of setting depth as remote 2, set settings related with remote 1, 2 at the “Detail” window like the followings.
[Figure 5.1.10] dedicated modem remote 2 setting screen
e) After completing setting, if you click connection of connection setting, SoftMaster tried remote connection. In case remote
connection is complete, it is same when connection is established by RS-232C cable. Here you can use all functions of
“Online” menu.
d) In case you want to disconnect remote connection, select disconnect at online menu. Disconnection menu box shows
and remote connection is disconnected.
e) If disconnection is done normally, Snet I/F module and SoftMaster are switch into initial mode. In case of reconnection,
retry from 2) item to reconnect.
f) Since for optical modem, wireless modem, only media between modems is different. Connection method is same.
Note
After remote connection, you can use online menu of SoftMaster like local connection.
You can use program download/upload/monitor etc. PLC control through modem is affected by
capability of modem and status of telephone line. In case telephone line is bad, connection may be
canceled. At this time, don’t try reconnection instantly, wait for 30s and retry again from step 1)

1) Remote connection through dedicated modem

[Figure 5.1.11] indicates that SoftMaster and local PLC is connected through RS-232C cable and in case RS-232C channel
of Snet I/F module equipped at local PLC communicates with Snet I/F module of remote PLC through dedicated modem.
Figure is example indicating remote connection with remote PLC. Like figure, SoftMaster uses modem communication
function between Snet I/F modules and control remote PLC by using remote connection.
SoftMaster
Remote connection
Remote client Remote server
Dedicated modem Dedicated line Dedicated modem
[Figure 5.1.11] remote connection between Snet I/F modules
Remote connection sequence by dedicated modem is as follows.

(1) Snet I/F module setting connected at remote PLC
a) Set RS-232C channel operation of Snet I/F module at SoftMaster as dedicated modem and have it operate as ML server.

(b) Snet I/F module setting connected at local PLC

1) Converts local connected PLC to Stop mode
Note
Basic parameter of remote server connected through SoftMaster should be set as server. In case of
remote client, it should be set as P2P client.
In case there are many communications, if you try to remote connection, you may fail. Be sure to convert
local PLC to stop mode and stop communication before remote connection.


a) Set active mode of RS-232C of Snet I/F module at SoftMaster as Use P2P settings.
b) Set modem type of Snet I/F module (RS-232C) as dedicated modem.
(3) SoftMaster
a) Execute SoftMaster and select “Online – Connection Settings” and set connection method.
Select Type as RS-232C and communication channel. This is same in case of local connection.
b) Select depth as remote 1 and click “Settings” for detail setting. In the detail window, set station number. AS for station
number, input station number set in Snet I/F module to execute remote connection. Figure is case Snet station number
is set as 1.

c) SoftMaster tries remote connection and in case remote connection is complete, online related function is activated.
d) In this case, remote 1 connection is complete, it is same status with where it is connected by RS-232C cable. Here you
can use all functions of online menu.
e) In case you want to disconnect remote connection, select disconnect at online menu. Disconnection menu box shows
and remote connection is disconnected.
In case disconnection is done normally, Snet I/F module and SoftMaster are converted into initial mode. In case of
reconnection, retry from (a) for reconnection.
f) In case of optical modem, wireless modem other than dedicated modem, communication media is only different,
method of remote connection is same.
g) [Figure 5.1.16] indicates remote connection by wireless modem. As for connection method, it is same with method of
remote connection between Snet I/F module by using communication. In case of using wireless modem, 1:N remote
connection where there are many Snet I/F module is also available.
Remote connection
Remote Cent
Wireless modem Wireless modem

2) Remote connection by RS-422/485

[Figure 5.1.17] indicates SoftMaster and local PLC is connected into CPU module by RS-232C cable, in case RS-422/485
channel of Snet I/F module connected at local PLC communicates, it is figure indicating remote connection example to remote
PLC. Like figure, SoftMaster can control program of remote PLC by remote connection through remote connection function
between Snet I/F modules.
[Remote connection in case of RS-422/485 communication]
Note
Basic parameter of remote server connected through SoftMaster should be set as server, in case of remote
client, it should be set P2P client.
If you try remote connection when there is many communications, connection may fail. You should convert
PLC as Stop mode and stop communication before remote connection.

Dedicated service is built-in service in Snet I/F module. Without specific program at PLC, you can read or write information
and data from PC and other device. It acts as server at communication network and if read, write request conforming ML
dedicated protocol or Modbus protocol come, it responds.
It is used in case of communication between our products by our dedicated service, all characters are configured as
ASCII code. In case of using multi drop, up to 32 stations can be connected. In case of setting station number,
duplicated station number should not be set. In case of using multi drop, communication speed/stop bit/parity bit/data
bit of all Snet I/F module in network should be same. For more detail protocol, refer to “chapter 2.7 ML dedicated
protocol”.
It is used in case partner device acts as Modbus client.

ASCII mode and RTU mode of Modbus are all supported. You can define in standard settings active mode. For more
detail protocol, refer to “chapter 2.9 Modbus protocol”.
Modbus instruction and response data max. number which is supported by Modbus RTU/ASCII driver are as follows.
Other client device should request in the range of the following table.
Code Purpose Address Max. no. of response data

01 Read Coil Status 0XXXX 2000 Coils
02 Read Input Status 1XXXX 2000 Coils
03 Read Holding Registers 4XXXX 125 Registers
04 Read Input Registers 3XXXX 125 Registers
05 Force Single Coil 0XXXX 1 Coil
06 Preset Single Register 4XXXX 1 Register
15 Force Multiple Coils 0XXXX 1968 Coils
16 Preset Multiple Registers 4XXXX 120 registers

P2P service means acting client operation of communication module. P2P instructions available at Snet I/F module are 4
(Read/Write/Send/Receive).
Registration and edit of P2P service is executed in SoftMaster, each P2P parameter consists of max. 32 P2P block.
The following figure is example of P2P parameter setting window of SoftMaster.
Note
P2P 01 is fixed allocated at built-in Snet, and P2P 02 is fixed allocated at built-in FEnet. Therefore, it will
operate normally with appropriate slot number.

To use P2P service, the user executes the setting for the wanted operation at the P2P parameter window. Like the
following figure, P2P parameter consists of three information.
Types Descriptions Remark

- P2P channel setting defining communication protocol of P2P service
to execute
P2P channel - ML/Modbus available
- Each channel is independent. It is applied when active mode is
“Use P2P settings”
P2P Block Setting P2P block of 32 acting independently
User frame definition User frame definition registration

Built-in Snet I/F function provides two fixed communication channel as fixed P2P 1.
Snet I/F module are allocated P2P 2 and P2P 3 according to equipment sequence and communication channel
supports only one channel. At Built-in Snet I/F, you can define driver type for P2P service about each.
If you select P2P channel at P2P setting window, like the following, P2P channel setting window shows. If you select
P2P driver to use, setting is complete.
Driver Meaning
None Not using P2P service
User frame definition In case of transmitting/receiving user frame definition
ML client Select in case of executing read, write of ML memory.
Modbus ASCII client Select in case of acting as Modbus client, using ASCII mode
Modbus RTU client Select in case of acting as Modbus client, using RTU mode.
About communication channel, in case of selecting P2P driver as ML or Modbus, user frame definition cannot be
used.
If you select P2P block of each parameter at P2P parameter setting window, P2P block setting window shows.
Setting value of P2P block will be displayed differently as user sets the P2P Driver of channel.
P2P Channel P2P Block Setting
[ P2P block setting screen ]

You can set up to 32 independent blocks. If you select temporary block, you can designate each block operation by
selecting instruction.
[ P2P instruction screen ]

Modbus protocol is specified open protocol used between client-server, which executes reading/writing data according to
function code. Communication between devices that use Modbus protocol uses Client-server function in which only one
client processes the data.
Snet I/F module is available to define driver type for P2P service about each channel. However, active mode in the
standard settings should be set as “Use P2P settings”.
There are two commands; Write (writes memory of self station to destination station’s memory area) and Read (reads
memory of destination memory and saves it in the memory area of self station)
Setting methods of both RTU and ASCII clients are same.
① ② ③ ④ ⑤ ⑥ ⑦ ⑧ ⑨
No. Type Block type Meaning
1 Channel Driver name changes according to driver set in the P2P Driver.
1. Read : when reading the destination station’s memory

P2P
2 2. Write: when writing self-station’s memory to destination station’s
function
memory.


1. Determines when Cent sends frame
Condition
3 2. In case of XBC type Ex. : F90(20ms flag), M01
al flag
3. In case of XEC type Ex. : _T20MS(20ms flag), %MX01
1. single: When reading/writing max. 4 memory areas.
Comman (Ex. : M01, M10, M20, M30)
4
d type 2. continuous: When reading/writing continuous memory areas.
(Ex. : M01~M10)
5 Data type Data type can be bit or word.
▷Determines size of data to communicate and it is activated when

command type is continuous.
1. when P2P function is Read
1) Modbus RTU client
(1)Bit type : 1~2000
(2)Word type : 1~125
2) Modbus ASCII client
(1)Bit type : 1~976
6 Data size
(2)Word type : 1~61
2. when P2P function is Write
1) Modbus RTU client
(1)Bit type : 1~1968
2) Modbus ASCII client
(1)Bit type : 1~944
1. It is checked automatically.
Destinatio
7 2. In case that the user doesn’t want to use relevant block, remove
n station
the check indication. Then that block doesn’t work.
Destinatio
8 n station 1. Destination station number, setting range is 0~31.
number
▶ When P2P function is Read

1. Read area: device area of server
1) Bit: bit input (0x10000), bit output (0x00000)
2) Word: word input (0x30000), word output (0x40000)
2. Save area: client’s device to save the data
Setting
9
▶ When P2P function is Write

1. Read area: device area of self station
2. Save area: server’s device area to save the data
1) Bit: bit input (0x10000), bit output (0x00000)
2) Word: word input (0x30000), word output (0x40000)

After P2P block setting is completed, download setting parameter to CPU.

Select [Online] – [Connect] – [Write], and click OK in parameter download window, and then it will be downloaded.
After download, the parameter is applied immediately. If you check ‘Set up with Link Enable’, Link Enable can be
applied with writing P2P/HS parameters at the same time.
[Not checking link enable] [Check link enable]
After setting P2P parameter and downloading the parameter to PLC CPU, enable P2P service. If parameter is
downloaded but P2P(EIP) is not enabled, the P2P block is not operated. In order to enable P2P(EIP), Select [Online]
– [Communication module setting] – [Enable Link], and click P2P(EIP) number which you want to operate and then
click Wirte button. The P2P(EIP) is enabled.

In order to check the setting parameter operates normally, diagnosis service is available.
Select [Online] – [Communication module setting] – [System Diagnosis]. Click the module and then click mouse
right-button. If you select Frame Monitor or Status by Service, it can be checked whether the communication is
normal or not. For more detail, refer to chapter 2.9 Diagnosis Function.

There are many protocols according to producer of communication device and it is impossible to supports diverse protocols.
So if the user defines protocols and writes program, Snet I/F module allows the communication between different devices
according to defined protocol. In order to communicate with device which doesn’t use specific protocols (ML protocol, Modbus
protocol), the user can directly define protocol used in the device the user want to communicate and communicate. At this
time, the user should define TX and RX frame so that it meets partner device’s protocol.
When writing frame by user definition frame, frame is divided into HEAD, TAIL and BODY generally and each HEAD,
TAIL and BODY is divided into segment. Total size of one frame should be less than 1024 byte.
(1) Structure of HEAD

Input type of segment for HEAD is divided into numerical constant and string constant.
In case of numerical constant, it means HEX value and in case of string constant, it means ASCII value.
(2) Structure of TAIL

Input type of segment for HEAD is divided into numerical constant, string constant and BCC which check frame
error. Meaning of numerical constant and string constant is same with HEAD’s. BCC is segment used for checking
TRX frame error, only one can be set in the TAIL.

a) BCC error check

When BCC is applied, calculation about TRX frame is executed and if calculation is different, relevant frame is
ignored to improve the reliability of communication. Calculation methods about each BCC are as follows.
Classification BCC method Contents description
Byte SUM Adds designated data as I byte unit and uses lower byte value
Word SUM Adds designated data as 1 word unit and uses lower word value
Executes Exclusive OR calculation about designated data as 1 byte

Byte XOR
unit and uses lower byte
7bit SUM Uses result value of byte sum except the most significant bit
General 7bit XOR Uses result value of byte XOR except the most significant bit
method
checking error 7bit SUM#1 If result of 7 bit SUM is less than 20H, it adds 20H.
Byte SUM 2’S COMP Takes 2’s complement about byte sum result
Byte SUM 1’S COMP Takes 1’s complement about byte sum result
CRC 16 16 bit error detection method

CRC 16 IBM 16 bit IBM CRC error detection method
CRC 16 CCITT 16 bit CCITT CRC error detection method
MODBUS LRC MODBUS LRC error detection method
Method CRC Error detection method used for LSIS PLC

checking error
DLE AB Error detection method used for DF1Protocol of Allen Bradley
for dedicated
communication DLE SIEMENS Error detection method used for Siemens 3964R communication
When setting BCC, in case of general method, the user need not set BCC setting range and indication method and
in case of dedicated method, the user should set BCC setting range and indication method.
Item Contents
Start area Determines where BCC calculation starts from among HEAD/BODY/TAIL
Start
Determines segment location to start BCC calculation in HEAD/BODY/TAIL. 0 means first segment will be
position Segment
included in the BCC calculation
Before BCC Included from start position to before BCC
End
End of area Included from start position to end of designated area
position
Settings Included from start position to designated area segment
ASCII conversion Converts result value, its size will be double
Initial value 0 Designates BCC initial value as 0. If there is no designation, initial value is FFH.

(3) Structure of BODY

Input type of segment which composes BODY is different according to reception and transmission.
In case of transmission, they are divided into string constant, numerical constant and fix sized variable. Meaning of
string constant and numerical constant is same with HEAD’s.
a) Variable sized variable (in RX frame)

Part where size and contents changes are defined as variable sized variable. Variable sized variable can be set in
the BODY and after variable sized variable, the user can’t add segment. When using variable sized variable, there
should be one among HEAD, TAIL. If the user registers variable sized variable without HEAD, TAIL, when
receiving frame, there may be error according to communication status. For reliability of communication, register
one among HEAD, TAIL. (In case of Variable sized variable of TX frame, the size is designated in P2P Block
setting, so the function and characteristic is same with Fix sized variable of RX frame.)
b) Fix sized variable (in RX frame)

Frame part where size is fixed but contents changes are defined as Fix sized variable. It can be set in the BODY. In
case of Fix sized variable, the user can register up to 4.
TRX frame standard for user - defined communication of ML50 Snet I/F module is as follows.
Group Frame Segment Reference
Numerical constant Max. 10 byte
HEAD
String constant Max. 10 byte
TX TAIL String constant Max. 10 byte
frame BCC Only one BCC applicable
BODY String constant Max. 10 byte
Variable sized variable Available up to 4
HEAD
String constant Max. 10 byte
TAIL String constant Max. 10 byte
BCC Only one BCC applicable
RX String constant Max. 10 byte
frame Available up to 4
Fix sized variable Fix sized variable 3, variable sized variable 1 are
BODY available
Only one variable sized variable available
After variable sized variable, adding segment is
Variable sized variable
impossible

Snet I/F module is available to define driver type for P2P service about each channel. However, active mode in the
standard settings should be set as “Use P2P settings”.
Frame is composed of HEAD indicating start, TAIL indicating end and BODY which is data area. How to write
transmission frame is as follows.
Sequence Setting contents Setting method
Writing user frame

definition
1
1. Select User frame definition.

2. Click right button of mouse and click Add Group
Creating frame
2
1. Group name is name of frame for user to write.

2. Select Transmission as frame type.

Creating frame
3
1. Check creation of frame.
2. Select frame name and click right button of mouse.
3. Click Add Frame to create HEAD, TAIL and BODY.
4. Group Edit: when changing frame name.
5. Delete Group: when deleting frame.
Creating HEAD, TAIL,

BODY
4
1. After clicking Add Frame, select type of frame.
2. type: HEAD,TAIL,BODY
3. Select HEAD.
4. To create TAIL, BODY, repeat step 3.
5. Name of frame edit window is activated when frame type is BODY.
6. Available to creating many BODYs with different name.
HEAD registration
1. Double-click HEAD. Then edit window is created.

2. Double-click edit window or click right button and select Add segment.
5 3. Select Form.
1) Numerical constant
(1) Defines numerical constant among frame
(2) Data value is always Hex (Hexadecimal)
2) String constant
(1) Registers string constant among frame
(2) Data value is always ASCII
4. Input value into Data.
Ex.) Form: Numerical constant
Data: 5(ENQ)
* When clicking the right button on the created segment, edit, deletion, insertion, copy, etc. are available.


1. If double-click TAIL, edit window shows.
6 TAIL registration 2. Setting method is same with step 5.
3. Add BCC is activated after inserting segment.
BODY registration
1. Double-click BODY and select data form.

7 1) Numerical constant and string constant are same as described above.
2) Variable sized variable
(1) used when frame length change
(2) available to insert up to 4 for one body
(3) ‘Assign memory’ is checked automatically
(4) Control by byte unit
3) Conversion
▶Hex To ASCII: converts the data red from PLC into ASCII and configures transmission frame
▶ASCII To Hex: converts the data red from PLC into Hex and configures transmission frame
4) Swap
▶2 Byte swap: 2 byte swap of data (ex.: 0x1234->0x3412)
▶8 Byte swap: 8 byte swap of data

Sequence Setting method Setting method
Writing user-defined
frame
1
1. Select User frame definition.

2. Click the right button of mouse and select Add Group.
Creating frame
2
1. Group name is name of frame for user to write.

2. Select Reception as frame type.
Creating frame
1. Check creation of frame.

2. Select frame name and click right button of mouse.
3. Click Add Frame to create HEAD, TAIL and BODY.
4. Group Edit: when changing frame name.
5. Delete Group: when deleting frame.
Creating HEAD, TAIL,

BODY
4
1. After clicking Add Frame, select type of frame.
2. type: HEAD, TAIL, BODY
3. Select HEAD.
4. To create TAIL, BODY, repeat step 3.
5. Name of frame edit window is activated when frame type is BODY.
6. Available to creating many BODYs with different name.

Sequence Setting method Setting method
HEAD registration
1. Double-click HEAD. Then edit window is created.

2. Double-click edit window or click right button and select Add segment.
3. Select Form.
1) Meaning of each form is same as described in the transmission.
4. Input value into Data.
1. If double-click TAIL, edit window shows.

6 TAIL registration 2. Setting method is same with step 5.
3. Add BCC is activated after inserting segment.
BODY registration
1. Double-click BODY and select data form.

1) Numerical constant and string constant are same as described above.
2) Variable sized variable
(1) used when frame length changes
(2) Available to insert only one variable sized variable and it is impossible to add segment after variable sized
7
variable
(3) When checking [Assign memory], it is available to save in the PLC memory
(4) Control by byte unit
3) Fix sized variable
(1) Used when frame size is fixed.
(2) available to insert up to 4 for one body
(3) When checking [Assign memory], it is available to save in the PLC memory
4) Assign memory: when setting the device area of PLC to save data.
5) Conversion
▶Hex To ASCII: converts the data received into ASCII and configures reception frame
▶ASCII To Hex: converts the data received into Hex and configures reception frame
6) Swap
▶8 Byte swap: 8 byte swap of data

To send and receive the user definition frame of SoftMaster, the user should set the parameter by P2P block. How to set
the P2P block is as follows.
① ② ③ ④ ⑤
1 Channel Driver name changes according to driver set in the P2P Driver.
1. Receive: used when receiving the frame written according to partner’s

P2P protocol
2
Function 2. Send: used when sending the frame written according to partner’s
protocol
1. Determines when Cent sends frame
Conditional 2. It is activated when P2P function is [Send].
3
flag 3. In case of XBC type Ex.: F90(20ms flag), M01
4. In case of XEC type Ex.: _T20MS(20ms flag), %MX01
1. In case of selecting [SEND] in the P2P function, select body of

transmission frame written in the user definition frame.
4 Frame
1. In case of selecting [RECEIVE] in the P2P function, select body of
reception frame written in the user definition frame.
1. Setting is available when [Assign memory] of Fix sized variable and

variable sized variable is checked.
5 Setting
2. Save area: start address to save the data received from destination
station.

After P2P block setting is completed, download setting parameter to CPU.

Select [Online] – [Connect] – [Write], and click OK in parameter download window, and then it will be downloaded.
After download, the parameter is applied immediately. If you check ‘Set up with Link Enable’, Link Enable can be
applied with writing P2P/HS parameters at the same time.
After setting P2P parameter and downloading the parameter to PLC CPU, enable P2P service. If parameter is
downloaded but P2P(EIP) is not enabled, the P2P block is not operated.
In order to enable P2P(EIP), Select [Online] – [Communication module setting] – [Enable Link], and click P2P(EIP)
number which you want to operate and then click Wirte button. The P2P(EIP) is enabled.

In order to check the setting parameter operates normally, diagnosis service is available.
Select [Online] – [Communication module setting] – [System Diagnosis]. Click the module and then click mouse
right-button. If you select Frame Monitor or Status by Service, it can be checked whether the communication is
normal or not. For more detail, refer to chapter 2.9 Diagnosis Function.

ML series dedicated protocol communication is function executing communication by our dedicated protocol. User can
configure the intended communication system between our products without special setting by using reading/writing data of
internal device area and monitoring function.
Dedicated protocol function supported by ML50 is as follows.

• Device individual/continuous read
• Device individual/continuous write
• Monitor variable registration
• Monitor execution
• 1:1 connection (Our link) system configuration
Note
 ML50’s built-in communication function supports Snet communication without any separate Snet I/F module. It
must be used under the following instructions.
 Channel 1 of ML50’s main unit supports 1:1 communication only. For 1:N system having master-slave Format,
use RS-485 communication in channel 2 or ML50’s main unit with MLL-C41A module connected. MLL-C41A
module supports RS-422/485 protocol.
 RS-232C communication cable for ML50’s main unit is different from RS-232C cable for SoftMaster (SM-NM) in
pin arrangement and from the cable for Snet I/F module, too. The cable can’t be used without any treatment. For
the detailed wiring method, refer to configuration of respective communication.
 It’s possible to set baud rate type and station No. in SoftMaster (SM-NM).

(1) Basic format

a) Request frame (external communication device → ML50)
Header Station Command Tail Frame check

Command Structurized data area
(ENQ) number type (EOT) (BCC)
b) ACK response frame (ML50 → external communication device, when receiving data normally)
Header Station Command Structurized data area or Null Tail Frame check
Command
(ACK) number type code (ETX) (BCC)
c) NAK response frame (ML50 → Snet I/F module → external communication device when receiving data abnormall
y)
Header Station Command Tail Frame check
Command Error code ( ASCII 4 Byte )
(NAK) number type (ETX) (BCC)
Note
1) The numerical data of all frames are ASCII codes equal to hexadecimal value, if there’s no clear statement.
The terms in hexadecimal are as follows.
• Station No.
• When the main command is R(r) or W (w) and the command type is numerical (means a data type)
• All of the terms indicating size of all data in the Formatted data area.
• Monitoring registration and command registration number of execution commands.
• All contents of data
2) If it is hexadecimal, H is attached in front of the number of frames like H01, H12345, H34, H12, and H89AB.
3) Available frame length is maximum 256 bytes.
4) Used control codes are as follows.
Codes Hex value Name Contents

ENQ H05 Enquire Request frame initial code
ACK H06 Acknowledge ACK response frame initial code
NAK H15 Not Acknowledge NAK response frame initial code
EOT H04 End of Text Request frame ending ASCII code
ETX H03 End Text Response frame ending ASCII code
5) If the command is small letter (r), BCC value is added in check frame. The other side capital letter (R), BCC value is not
added in check frame.

(2) Command frame sequence
a) Sequence of command request frame
Station Comman
ENQ Formatted data EOT BCC
No. d
Station
ACK Command Formatted data ETX BCC
No.
(PLC ACK response)
Station
NAK Command Formatted data ETX BCC
No.
(PLC NAK response)
b) List of commands
List of commands used in dedication communication is as shown below.
Classification Command
Main command Command type Treatment
Items Code ASCII code Code ASCII code

H72
Individual r(R) SS 5353 Reads direct variable of Bit, Byte, Word, Dword, Lword type.
(H52)
Reading
Read direct variable of Byte, Word, Dword, Lword with block
device H72
Continuous r(R) SB 5342 unit
(H52)
(Bit continuous read is not allowed)
H77
Individual w(W) (H57)
SS 5353 Write data of Bit, Byte, Word, Dword, Lword at direct variable
Writing
Write data of Byte, Word, Dword, Lword at direct variable with
device H77
Continuous w(W) (H57)
SB 5342 block unit
(Bit continuous read is not allowed)
Classification Command
Main command Treatment
Register No
Item Code ASCII code
Monitoring H78
x(X) H00~H0F Register device to monitor.
variable register (H58)
Execution of H79
y(Y) H00~H0F Execute registered device to monitor.
monitoring (H59)
Note
• It identifies capitals or small letters for main commands, but not for the others.

(3) Data type

It’s possible to read and write device in built-in communication. When device is used, be aware of data type.
a) Available types of device (XBC type)

Device Range Size (Word) Remark
P0 – P2047%IW0.0.0
PI 210248 Read/Write/Monitor available
~ %IW15.15.3
M0 – M2047%QW0.0.0
MQ 210248 Read/Write/Monitor available
~ %QW15.15.3
KM K0 – K4095%MW0 ~ %MW16383 409616384 Read/Write/Monitor available
D0 – D32767%WW0
DW 32768 Read/Write/Monitor available
~ %WW32767
R0 – R32767%RW0
R 3276816384 Read/Write/Monitor available
~ %RW16383
Note
• In case of U device, it will be available only for operation as server.
• Timer/Counter used in bit command means contact point values.
(word command means current values.)
• Data register (D) can uses only word or byte commands.
• In byte type commands, address is doubled. For example, D1234 is addressed to ‘%DW1234’ in word type, and is
addressed to ‘%DB2468’ in byte type.
(4) Error codes

Error code is displayed as hex 2 byte (4 byte as ASCII code). The user can see error by frame monitor and in case of viewing
by ASCII, the user can see the following error code.
Error code Error type Error details and causes Example

Number of blocks Number of blocks exceeds 16 at Individual
0003 01rSS1105%MW10…
exceeded Read/Write Request
01rSS010D%MW10000000000
0004 Variable length error Variable Length exceeds the max. size of 16
..
0007 Data type error Other data type than X,B,W,D,L received 01rSS0105%MK10
Data length area information incorrect 01rSB05%MW10%4
In case % is unavailable to start with 01rSS0105$MW10
0011 Data error
Variable’s area value wrong 01rSS0105%MW^&
Other value is written for Bit Write than 00 or 01 01wSS0105%MX1011
Monitor execution
0090 Unregistered monitor execution requested
error
Monitor execution
0190 Reg. No. range exceeded
error
0290 Monitor reg. Error Reg. No. range exceeded
1132 Device memory error Other letter than applicable device is input
Request exceeds the max range of 60 Words to
1232 Data size error 01wSB05%MW1040AA5512,..
read or write at a time.
1234 Extra frame error Unnecessary details exist as added. 01rSS0105%MW10000

Data type All the blocks shall be requested of the identical

1332 01rSS0205%MW1005%MB10
discordant data type in the case of Individual Read/Write
1432 Data value error Data value unavailable to convert to Hex 01wSS0105%MW10AA%5
Variable request
Request exceeds the area each device
7132 area 01rSS0108%MWFFFFF
supports.
exceeded

This is a function that reads PLC device specified in accord with memory data type. Separate device memory can be
read up to 16 at a time.
(1)PC request format

Format Station Comman Number Device Frame
Header Command type Device name Tail
name No. d of blocks length check
....
Ex. of
ENQ H20 R(r) SS H01 H06 %MW100 EOT BCC
frame
ASCII H323
H05 H52(72) H5353 H3031 H3036 H254D57313030 H04
value 0
1 block (setting can be repeated up to max. 16 blocks)
Item Description
When command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte
each to ASCII values from ENQ to EOT is converted into ASCII and added to BCC. For
BCC
example, the BCC of the above frame is gotten as below:
H05+H32+H30+H72+H53+H53+H30+H31+H30+H36+H25+H4D+H57+H31+H30+H30+H04
= H03A4 Therefore BCC value is A4 (ASCII value : H4134).
This specifies how much of the blocks composed of "[device length][device name]" are in this
Number of
request format. This can be set up to 16. Therefore, the value of [Number of blocks] must be
Blocks
set between H01(ASCII value:3031)-H10(ASCII value:3030).
This indicates the number of name's characters that means device, which is allowable up to 16
Device length
characters. This value is one of ASCII converted from hex type, and the range is from
(Length of H01(ASCII value:3031) to H10(ASCII value:3130). For example, if the device name is %MW0,
device name) it has 4 characters to be H04 as its length. If %MW000 characters to be H06.
Address to be actually read is entered. This must be ASCII value within 16 characters, and in
Device name
this name, digits, upper/lower case, '%' is only allowable to be entered.
Note
• BCC values convert ASCII values to ASCII values and lower values to ASCII values.
• In case of making actual frame, 'H' is not attached. Because the number data of frame indicates
hexadecimal.

(2) ML50 response format (ACK response)
Number of Number of
Format name Header Station No. Command Command type data Tail Frame check
blocks data
......
Ex. of frame ACK H20 R(r) SS H01 H02 HA9F3 ETX BCC
ASCII value H06 H3230 H52(72) H5353 H3031 H3032 H41394633 H04
1 block (max. 16 blocks possible)
Item Description
BCC
each to ASCII values from ACK to ETX is converted into ASCII and added to BCC, and sent.
Number of data means byte number of hex type, and is converted into ASCII. This number is
determined according to data type (X,B,W) included in device name of computer request
Format.
Number of • Number of data in accordance with its data type is as follows:

data
Data type Available variable Number of data
Bit(X) %(P,M,L,K,F,T,C,D,R,I,Q,W)X 1
Byte(B) %(P,M,L,K,F,T,C,D,R,I,Q,W)B 1
Word(W) %(P,M,L,K,F,T,C,D,R,I,Q,W)W 2
※R area is supported at XBC-DXXXU
Data • In data area, there are the values of hex data converted to ASCII code saved.
▪ Example 1
The fact that number of data is H04 (ASCII code value:H3034) means that there is hex data of 4 bytes in data. Hex data
of 4 bytes is converted into ASCII code in data.
▪ Example 2
If number of data is H04 and the data is H12345678, ASCII code converted value of this is "31 32 33 34 35 36 37 38,"
and this contents is entered in data area. Name directly, highest value is entered first, lowest value last.

(3) ML50 response format (NCK response)
Station Error code

Format name Header Command Command type Tail Frame check
No. (Hex 2 Byte)
Ex. of frame NAK H20 R(r) SS H1132 ETX BCC
ASCII value H15 H3230 H52(72) H5353 H31313332 H03
Item Explanation
When command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte each to ASCII values
BCC
from NAK to ETX is converted into ASCII and added to BCC.
Hex and 2 bytes (ASCII code, 4 bytes) indicate error type. Refer to 10.1.4 ML dedicated communication error codes
Error code
and countermeasures.
(4) Example
ML50 main unit
This example supposes when 1 WORD from M20 and 1 WORD from P001 address of station No.1 are read
(At this time, it is supposed that H1234 is entered in M20, and data of H5678 is entered in P001.)
a) PC request format (PC → ML50)
Command Number of Variable Device Frame

Format name Header Station No. Command Variable name Variable name Tail
blocks length length check
type
Ex. of frame ENQ H01 R(r) SS H02 H06 %MW020 H06 %PW001 EOT BCC
H254D573032 H255057303030
30 31
b) For ACK response after execution of command (PC ← ML50)

Command Number of Number of

Format name Header Station No. Command Data Number of data Data Tail Frame check
type blocks data
Ex. of frame ACK H01 R(r) SS H02 H02 H1234 H02 H5678 ETX BCC
H303
ASCII value H06 H52(72) H5353 H3032 H3032 H31323334 H3032 H35363738 H03
1
c) For NAK response after execution of command (PC ← ML50)
Frame
Format name Header Station No. Command Command type Error code Tail
check
Ex. of frame NAK H01 R(r) SS Error code (2 Byte) ETX BCC
ASCII value H15 H3031 H52(72) H5353 Error code (4 Byte) H03

This is a function that reads the PLC device memory directly specified in accord with memory data type. With this, data
is read from specified address as much as specified continuously.
(1) PC request format
Format Heade Station Command Frame

Command Device length Device Number of data Tail
name r No. type check
Ex. of
ENQ H10 R(r) SB H06 %MW100 H05 EOT BCC
frame
ASCII H254D5731
H05 H3130 H52(72) H5342 H3036 H3035 H04
value 3030
Item Description
When command is lowercase(r), only one lower byte of the value resulted by adding 1
BCC Byte each to ASCII values from ENQ to EOT is converted into ASCII and added to
BCC.
Device length This indicates the number of name's characters that means device, which is allowable
up to 16 characters. This value is one of ASCII converted from hex type, and the
(Length of
range is from H01 (ASCII value:3031) to H10 (ASCII value:3130).
device name)
Address to be actually read is entered. This must be ASCII value within 16 characters,
Device name
and in this name, digits, upper/lowercase, and '%' only are allowable to be entered.
Note
• Number of data specifies the number to read according to the type of data. Namely, if the data type of
device is word and number is 5, it means that 5 words should be read.
• In the number of data, you can use up to 60 words (120Byte).
• Protocol of continuous reading of direct variable doesn't have number of blocks.
• Bit device continuous reading is not supported.

(2) ML50 response format (ACK response)
Station Command Number of Number of

Format name Header Command data Tail Frame check
No. blocks data
type
Ex. of frame ACK H10 R(r) SB H01 H02 H1122 ETX BCC
Item Description
It means byte number of hex type, and is converted into ASCII
Data type Available device Data size (Byte)
BYTE(B) %(P,M,L,K,F,T,C,D,R,I,Q,W)B 1
WORD(W) %(P,M,L,K,F,T,C,D,R,I,Q,W)W 2
Number of data
DWord(D) %(P,M,L,K,F,T,C,D,R,I,Q,W)D 4
LWord(L) %(P,M,L,K,F,T,C,D,I,Q,W)L 8
※R area is supported at XBC-DXXXU
▪Example 1
When memory type included in variable name of computer request Format is W (Word), and data number of computer
request Format is 03, data number of PLC ACK response after execution of command is indicated by H06 (2*03 = 06
bytes)Byte and ASCII code value 3036 is entered in data area.
▪Example 2
In just above example, when data contents of 3 words are 1234, 5678, and 9ABC in order, actual ASCII code converted
values are 31323334 35363738 39414243, and the contents are entered in data area.
(3) ML50 response format (NAK response)
Error code
Format name Header Station No. Command Command type Tail Frame check
(Hex 2 Byte)
Ex. of frame NAK H10 R(r) SB H1132 ETX BCC
Item Description
BCC each to ASCII values from NAK to ETX is converted into ASCII and added to BCC, and
sent.
Hex and 2 bytes (ASCII code, 4 bytes) indicate error type. For the details, Refer to ML
Error code
dedicated communication error codes and countermeasures.

(4) Example
This example supposes that 2 WORDs from M000 of station No. 10 is read
(It supposes that M000 = H1234, M001 = H5678.)
a ) PC request format (PC → ML50)
Format name Header Station No. Command Command type Device length Device name Number of data Tail Frame check
Frame (Example) ENQ H0A R(r) SB H06 %MW000 H02 EOT BCC
H254D3030
ASCII value H05 H3041 H52(72) H5342 H3036 H3032 H04
30
b) For ACK response after execution of command (PC ← ML50)
Number of Number of Frame

Format name Header Station No. Command Command type Data Tail
block data check
Frame (Example) ACK H0A R(r) SB H01 H04 12345678 ETX BCC
ASCII value H06 H3041 H52(72) H5342 H3031 H3034 H3132333435363738 03
c) For NAK response after execution of command (PC ← ML50)
Format name Header Station No. Command Command type Error code Tail BCC
Frame (Example) NAK H0A R(r) SB Error code (2 Byte) ETX BCC

This is a function that writes the PLC device memory directly specified in accord with memory data type.
Command Number of Device Frame

Format name Header Station No. Command Device Name Data ..... Tail
blocks Length
type check
Frame (Example) ENQ H20 W(w) SS H01 H06 %MW100 H00E2 EOT BCC
H254D573130
30
1 block (setting can be repeated up to max. 16 blocks)
Item Description
BCC each to ASCII values from ENQ to EOT is converted into ASCII and added to BCC.
This specifies how much of the blocks composed of "[device length][device name]" are in
Number of
this request Format. This can be set up to 16. Therefore, the value of [Number of blocks]
blocks must be set between H01(ASCII value:3031)-H10 (ASCII value:3030).
Device
This indicates the number of name's characters that means device, which is allowable up to
Length
16 characters. This value is one of ASCII converted from hex type, and the range is from
(Name length of H01 (ASCII value: 3031) to H10 (ASCII value:3130).
device)
Address to be actually read is entered. This must be ASCII value within 16 characters, and
device in this name, digits, upper/lower case, and '%' only is allowable to be entered.
If the value to be written in %MW100 area is H A, the data Format must be H000A. If the
Data value to be written in %MW100 area is H A, the data Format must be H000A. In data area,
the ASCII value converted from hex data is entered.
▪Example 1
If type of data to be currently written is WORD, the data is H1234, ASCII code converted value of this is
"31323334" and this content must be entered in data area. Namely, most significant value must be sent first, least
significant value last.
Note
• Device data types of each block must be the same
• If data type is Bit, the data to be written is indicated by bytes of hex. Namely, if Bit value is 0,
it must be indicated by H00 (3030), and if 1, by H01 (3031).

(2) ML50 Response format (ACK response)

Frame (Example) ACK H20 W(w) SS ETX BCC
ASCII value H06 H3230 H57(77) H5353 H03
Item Description
When command is lowercase (r), only one lower byte of the value resulted by adding 1 Byte
BCC
each to ASCII values from ACK to ETX is converted into ASCII and added to BCC, and sent.
(3) ML50 Response format (NAK response)

Error code
(Hex 2 Byte)
Frame (Example) NAK H20 W(w) SS H4252 ETX BCC
Item Description
BCC
each to ASCII values from NAK to ETX is converted into ASCII and added to BCC, and sent.
Hex and 2 bytes (ASCII code, 4 bytes) indicate error type. For the details, Refer to 10.1.4 ML
Error code
(4) Example
This example supposes that "HFF" is written in M230 of station No. 1.
1) PC request format (PC → ML50)

Station Command Number of Frame
Format name Header Command Device Length Device Name Data Tail
No. type blocks check
Frame (Example) ENQ H01 W(w) SS H01 H06 %MW230 H00FF EOT BCC
H254D573233
30
2) For ACK response after execution of command (PC ← ML50)

Frame (Example) ACK H01 W(w) SS ETX BCC
3) For NAK response after execution of command (PC ← ML50)

Format name Header Station No. Command Command type Error code Tail Frame check
Frame (Example) NAK H01 W(w) SS Error code (2 Byte) ETX BCC

This is a function that directly specifies PLC device memory and continuously writes data from specified address as
much as specified length.
(1) Request format
Format Heade Station Comman Device Number Frame

Command Device name Data Tail
name r No. d type Length of data check
Frame
ENQ H10 W(w) SB H06 %MW100 H02 H11112222 EOT BCC
(Example)
ASCII H254D5731303
H05 H3130 H57(77) H5342 H3036 H3032 H3131313132323232 H04
value 0
Item Description
BCC
each to ASCII values from ENQ to EOT is converted into ASCII and added to BCC.
Device
This indicates the number of name's characters that means device, which is allowable up to
Length 16 characters. This value is one of ASCII converted from hex type, and the range is from
(Name length of H01 (ASCII value: 3031) to H10 (ASCII value: 3130).
variable)
Address to be actually read. This must be ASCII value within 16 characters, and in this
Device
name, digits, upper/lower case, and '%' only are allowable to be entered.
Note
• Number of data specifies the number according to the type of device. Namely, if the data type of device is
WORD, and number of data is 5, it means that 5 WORDs should be written.
• Number of data can be used up to 120Bytes (60 Words).
Frame (Example) ACK H10 W(w) SB ETX BCC
Item Description
When command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte each
BCC
to ASCII values from ACK to ETX is converted into ASCII and added to BCC, and sent.

Format name Header Station No. Command Command type Error code (Hex 2 Byte) Tail Frame check
Frame (Example) ENQ H10 W(w) SB H1132 EOT BCC
Item Description
BCC
each to ASCII values from NAK to ETX is converted into ASCII and added to BCC, and sent.
Error code
(4) Example
This example supposes that 2 byte H’AA15 is written in D000 of station No. 1.
(a) PC request format (PC → ML50)
Station Command Device Number of

Format name Header Command Device Data Tail Frame check
No. type Length data
Frame (Example) ENQ H01 W(w) SB H06 %DW000 H01 HAA15 EOT BCC
ASCII value H05 H3031 H57(77) H5342 H3036 H254457303030 H3031 H41413135 H04
(b) For ACK response after execution of command (PC ← ML50)
Frame (Example) ACK H01 W(w) SB ETX BCC
(c) For NAK response after execution of command (PC ← ML50)
Format name Header Station No. Command Command type Error code Tail Frame check
Frame (Example) NAK 01 W(w) SB Error code (2) ETX BCC
ASCII value H15 H3031 H57(77) H5342 Error code (4) H03

Monitor register can separately register up to 16 (from 0 to 15) in combination with actual variable reading command,
and carries out the registered one through monitor command after registration.
Head Station Comma Registration

Format name Registration format Tail Frame check
er No. nd No.
Frame Refer to
ENQ H10 X(x) H09 EOT BCC
(Example) registration format
ASCII value H05 H3130 H58(78) H3039 Refer to *1 H04
Item Description
When command is lowercase(x), only one lower byte of the value resulted by adding 1 byte
BCC
each to ASCII values from ENQ to EOT is converted into ASCII, added to BCC.
This can be registered up to 16 (0 to 15, H00-H0F), and if an already registered No. is

Register No.
registered again, the one currently being executed is registered.
Register This is used to before EOT in command of Formats of separate reading of variable,
Format continuous reading, and named variable reading.
*1 : Register Format of request Formats must select and use only one of the followings.
(a) Individual reading of device
RSS Number of blocks (2 Byte) Device length (2 Byte) Device name (16 Byte) ...
1 block (max. 16 blocks)
(b) Continuous reading of device
RSB Device length (2 Byte) Device name (16 Byte) Number of data
Format name Header Station No. Command Registration no. Tail Frame check
Frame (Example) ACK H10 X(x) H09 ETX BCC
Item Description
When command is lowercase(x), only one lower byte of the value resulted by adding 1
BCC Byte each to ASCII values from ACK to ETX is converted into ASCII and added to BCC,
and sent.

Registration Error code

Format name Header Station No. Command Tail Frame check
No. (Hex 2Byte)
Frame (Example) NAK H10 X(x) H09 H1132 ETX BCC
Item Description
When command is one of lower case(x), only one lower byte of the value resulted by adding
BCC 1 Byte each to ASCII values from NAK to ETX is converted into ASCII and added to BCC,
and sent.
Error code
(4) Example
This example supposes that device M000 of station NO. 1 is monitor registered.
Registration Format
Station Registration Frame
Format name Header Command Number of Tail
No. No. R## Device length Device name
blocks check
Frame (Example) ENQ H01 X(x) H01 RSS H01 H06 %MW000 EOT BCC
H5253 H2554573030
ASCII value H05 H3031 H58(78) H3031 H3031 H3036 H04
53 30
(b) For ACK response after execution of command (PC ← ML50)
Format name Header Station No. Command Registration No. Tail Frame check
Frame (Example) ACK H01 X(x) H01 ETX BCC

(c) For NAK response after execution of command (PC ← ML50)
Format name Header Station No. Command Registration No. Error code Tail Frame check
Frame (Example) NAK H01 X(x) H01 Error code (2) ETX BCC
ASCII value H15 H3031 H58(78) H3031 Error code (4) H03

This is a function that carries out the reading of the variable registered by monitor register. This also specifies a
registered number and carries out reading of the variable registered by the number.
Frame (Example) ENQ H10 Y(y) H09 EOT BCC
Item Description
Register No. uses the same number registered during monitor register for monitor execution.
Register No.
It is possible to set from 00-09 (H00-H09).
When command is lower case(y), only one lower byte of the value resulted by adding 1 byte
BCC
each to ASCII values from ENQ to EOT is converted into ASCII, added to BCC.

1) In case that the register Format of register No. is the Individual reading of device
Registration Number of
Format name Header Station No. Command Number of data Data Tail Frame check
No. Blocks
Frame (Example) ACK H10 Y(y) H09 H01 H02 H9183 ETX BCC
2) In case that the register Format of register No. is the continuous reading of device
Format name Header Station No. Command Registration No. Number of data Data Tail Frame check
Frame (Example) ACK H10 Y(y) H09 H04 H9183AABB ETX BCC
H393138334141424
2
(3) ML50 Response Format (NAK response)

Heade Registration Error code
Format name Station No. Command Tail Frame check
r No. (Hex 2Byte)
Frame (Example) NAK H10 Y(y) H09 H1132 ETX BCC
Item Description
When command is lowercase(y), only one lower byte of the value resulted by adding 1 Byte
BCC each to ASCII values from NAK to ETX is converted into ASCII and added to BCC, and
sent.
Error code

(4) Example
This example supposes that registered device No. 1 of station No. 1 is read. and BCC value is checked. And it is
supposed that device M000 is registered and the number of blocks is 1.
Frame (Example) ENQ H01 Y(y) H01 EOT BCC
(b) For ACK response after execution of command (PC → ML50)
Number of
Format name Header Station No. Command Registration No. Number of data Data Tail Frame check
Blocks
Frame (Example) ACK H01 Y(y) H01 H01 H02 H2342 ETX BCC
(c) For NAK response after execution of command (PC → ML50)
Format name Header Station No. Command Registration No. Error code Tail Frame check
Frame (Example) NAK H01 Y(y) H01 Error code(2) ETX BCC
ASCII value H15 H3031 H59(79) H3031 Error code(4) H03

Modbus protocol is specified open protocol used between client-server, which executes reading/writing data according to
function code. Communication between devices that use Modbus protocol uses Client-server function in which only one client
processes the data.
There are two communication modes of Modbus, ASCII and RTU.
Characteristic ASCII mode RTU mode

Coding method ASCII code 8 bit binary code
Start bit 1 1
No. of data per Data bit 7 8
one character Parity bit Even,Odd,None Even,Odd,None
Stop bit 1 or 2 1 or 2
Error check LRC(Longitudinal Redundancy Check) CRC (Cyclical Redundancy Check)
Start of frame Colon (:) 3.5 Character no response time
Modbus protocol’s structure is as follows.
In case of normal communication, process step is as follows.
In case of abnormal communication, process step is as follows.

When receiving the abnormal frame from client, server transmits error code and exceptional code. Error code is
function code adding 80(Hex) and exceptional code indicate the specific error content. Each code has following
content.
Code Code name Meaning

01 Function code error Function code error
02 Address error Exceeds allowed address range
03 Data setting error Not allowed data value
04 Server error Server(slave) is error
Server requesting
05 Now server is too busy to process and requests re-transmission later
re-transmission
Server process time
06 Server takes time to process. Master should request again.
delay
Frame structure in the ASCII mode is as follows.
Classification Start Station no. Function code Data Error check End
Size (byte) 1 2 2 N 2 2
(1) Characteristic of ASCII mode

a) In the ASCII mode, start of frame is indicated with colon (:), which is ASCII code, and end of frame is indicated
with ‘CRLF’.
b) Each character allows maximum 1s interval.
c) How to check the error uses LRC, it takes 2’s complement except frame of start and end and converts it as ASCII
conversion.
(2) Address area

a) It consists of 2 byte.
b) When using the ML Snet I/F module, range of station is 0~31.
c) Station number 0 is used for client.
d) When server responds, it contains self address to response frame to know client’s response.
(3) Data area

a) Transmits the data by using the ASCII data, data structure changes according to function code.
b) In case of receiving normal frame, it responds as normal response.
c) In case of receiving abnormal frame, it responds by using error code.
(4) Error check area

How to check error of frame takes 2’s complement except start and end of frame and converts it as ASCII.

Frame structure in the RTU mode is as follows.
Station
Classification Start Function code Data Error check End
number
size(byte) Idle time 1 1 N 2 Idle time
(1) Characteristic of RTU mode

a) It uses hexadecimal.
b) Start character is station number and frame is classified by CRC error check.
c) Start and end of frame is classified by adding idle time of 1 bit.
d) Between frames, there is interval of 3.5 character time. When exceeding 1.5 character time, it is acknowledged
as independent frame.
(2) Address area

a) It consists of 1 byte.
b) When using the ML Snet I/F module, range of station is 0~31.
c) Station number 0 is used for client.
d) When server responds, it contains self address to response frame to know client’s response.
(3) Data area

a) Transmits the data by using the Hex. data, data structure changes according to function code.
b) In case of receiving normal frame, it responds as normal response.
c) In case of receiving abnormal frame, it responds by using error code.
(4) Error check area

It determines if frame is normal or not by using CRC check of 2 byte.
The address in the data starts from 0 and is equal to the value obtained by subtracting 1 from the modbus memory. That is,
Modbus address 2 is the same as address 1 in the data.
To express data and address of modbus protocol, the characteristic is as follows.

1) It used hexadecimal as basic form.
2) In the ASCII mode, Hex data is converted into ASCII code.
3) RTU mode uses Hex data.
4) Each function code has following meaning.
Code(Hex) Purpose Used area address Max. response data

01 Read Coil Status Bit output 0XXXX 2000bit
02 Read Input Status Bit input 1XXXX 2000bit
03 Read Holding Registers Word output 4XXXX 125word
04 Read Input Registers Word input 3XXXX 125word
05 Force Single Coil Bit output 0XXXX 1bit
06 Preset Single Register Word output 4XXXX 1word
0F Force Multiple Coils Bit output 0XXXX 1968bit
10 Preset Multiple Registers Word output 4XXXX 120word

(1) Reading bit of output area (function code: 01)

In case of reading data of bit type, request and response frame is as follows.
Detail of frame is applied in case of ASCII mode.
(a) Request frame

Station Function code Frame error
Frame Address Data size Tail (CRLF)
no. (01) check
Size (byte) 1 1 2 2 2 2
(b) Response frame (In case of receiving normal frame)

Station Function code
Frame No. of byte Data Frame error check Tail (CRLF)
no. (01)
Size (byte) 1 1 2 N 2 2
(c) In case of response frame (In case of receiving abnormal frame)

Exceptional
Frame Station no. Error code Tail (CRLF)
code
Size
1 1 1 2
(byte)
(2) Details of frame

(a) Station no.: indicates the station no. of slave to read bit of output area.
(b) Function code: ‘01’ indicating Read Coil Status
(c) Address: start address of data to read and it consists of 2 byte. At this time, start address conforms to modbus
address regulation.
(d) Data size: size of data to read and it consists of 2 byte.
(e) Frame error check: in case of ASCII mode, it uses LRC and in case of STU mode, it uses CRC. It consists of 2
byte.
(f) Tail: it is applies in case of ASCII mode, CRLF is added after LRC.
(g) No. of byte: no. of byte of response data
(h) Data: makes address of request frame as start address and transmits data with byte unit
(i) Error code: error code is expressed by adding 80(Hex) to function code and in case of reading bit of output area,
it is expressed as 81(Hex).
(j) Exceptional code: indicates detail of error and consists of 1 byte

(3) Frame example

Example that requests reading bit of 20~28 to station number 1 server acting as modbus RTU mode
(a) Request frame

Function Address Data size
Classification Station no. Error check
code Upper byte Lower byte Upper byte Lower byte
Frame 01 01 00 13 00 13 CRC
(b) Response frame (In case receiving normal frame)

Function
Classification Station no. No. of byte Data Error check
code
Frame 01 01 03 12 31 05 CRC
(c) Response frame (In case of receiving abnormal frame)

Function Exceptional
Classification Station no. Error check
code code
Frame 01 81 02 CRC

(1) Reading bit of input area

In case of reading data of bit type of input area, request and response frame is as follows.
Tail of frame is applied in case of ASCII mode.
(a) Request frame

Classification Station no. Function code (02) Address Data size Frame error check Tail (CRLF)
Size (byte) 1 1 2 2 2 2

Classification Station no. Function code (02) No. of byte Data Frame error check Tail (CRLF)
Size (byte) 1 1 2 N 2 2

Classification Station no. Error code Exceptional code Tail (CRLF)
Size (byte) 1 1 1 2

(a) Station no.: indicates station no. of slave to read bit of input area
(b) Function code: ‘02’ indicating Read Input Status
(c) Address: indicating start address of data to read. It consists of 2 byte. At this time, start address conforms to
modbus address regulation.
(d) Data size: size of data to read, consists of 2 byte
(e) Frame error check: in case of ASCII mode, it uses LRC and in case of STU mode, it uses CRC for error check.
It consists of 2 byte.
(f) Tail: it is applied in case of ASCII mode, CRLF is added after LRC.
(g) No. of byte: no. of byte of data responding
(h) Data: address of request frame is start address and transmits data with byte unit.
(i) Error code: Error code is expressed by adding 80(Hex) and in case of reading bit of output area, it is expressed
82(Hex).
(j) Exceptional code: details of error, consists of 1 byte.
(3) Frame example

Example that reads bit (20~38) from station number 1 server acting as modbus RTU
(a) Request frame

Statio Function Address Data size
Classification Error check
n no. code Upper byte Lower byte Upper byte Lower byte
Frame 01 02 00 13 00 13 CRC
(b) Response frame (When receiving normal frame)

Statio Function
Classification No. of byte Data Error check
n no. code
Frame 01 02 03 12 31 05 CRC
(c) Response frame (When receiving abnormal frame)

Classification Station no. Function code Exceptional code Error check
Frame 1 82 2 CRC

(1) Reading word of output area

When reading data of word type of output area, request and response frame is as follows.
(a) Request frame
Classification Address Data size Frame error check Tail (CRLF)
no. (03)
Size (byte) 1 1 2 2 2 2
(b) Response frame (When receiving normal frame)

Classification No. of byte Data Frame error check Tail (CRLF)
no. (03)
Size (Byte) 1 1 2 N*2 2 2
(c) Response frame (When receiving abnormal frame)

Size (byte) 1 1 1 2

(a) Station no.: indicates the station no. of slave to read word data of output area.
(b) Function code: ‘03’ indicating Read Holding Registers
(c) Address: indicating start address of data to read. It consists of 2 byte. At this time, start address conforms to
(d) Data size: size of data to read, consists of 2 byte
(e) Frame error check: in case of ASCII mode, it uses LRC and in case of STU mode, it uses CRC for error check.
It consists of 2 byte.
(f) Tail: it is applied in case of ASCII mode, CRLF is added after LRC.
(g) No. of byte: no. of byte of data responding
(h) Data: address of request frame is start address and transmits data with byte unit. At this time, since data is word
type, it is double of no. of byte.
(i) Error code: error code is expressed by adding 80(Hex) and in case of reading word of output area, it is
expressed 83(Hex).
(j) Exceptional code: details of error, consists of 1 byte.
(3) Frame example

Example that reads word (108~110) from station number 1 server acting as modbus RTU
(a) Request frame
Station Function Address Data size
Classification Error check
no. code Upper byte Lower byte Upper byte Lower byte
Frame 01 03 00 6B 00 03 CRC
(b) Response frame (receiving normal frame)

Station Function
Classification No. of byte Data Error check
no. code
Frame 01 03 06 13 12 3D 12 40 4F CRC
(c) Response frame (receiving abnormal frame)

Frame 01 83 04 CRC

(1) Reading word of input area

In case of reading word of input area, request and response frame is as follows.
(a) Request frame

Classification Address Data size Frame error check Tail (CRLF)
no. (04)
Size (byte) 1 1 2 2 2 2

Classification No. of byte Data Frame error check Tail (CRLF)
no. (04)
Size (byte) 1 1 2 N*2 2 2

Size (byte) 1 1 1 2

(a) Station no.: indicates the station no. of slave to read word of input area.
(b) Function code: ‘04’ indicating Read Input Registers
address regulation.
(d) Data size: size of data to read and it consists of 2 byte.
(e) Frame error check: in case of ASCII mode, it uses LRC and in case of STU mode, it uses CRC. It consists of 2
byte.
(h) Data: makes address of request frame as start address and transmits data with byte unit. At this time, since data
is word type, it is double of no. of byte.
(i) Error code: error code is expressed by adding 80(Hex) to function code and in case of reading word of input area,
it is expressed as 84(Hex).
(j) Exceptional code: indicates detail of error and consists of 1 byte
(3) Frame example

Example that requests reading word of 9 to station number 1 server acting as modbus RTU mode
(a) Request frame

Classificatio Statio Function Address Data size
Error check
n n no. code Upper byte Lower byte Upper byte Lower byte
Frame 01 04 00 08 00 01 CRC

Classificatio Statio Function
No. of byte Data Error check
n n no. code
Frame 01 04 02 00 0A CRC

Frame 01 84 04 CRC

(1) Individual writing bit of output area

When writing single bit of output area, request and response frame is as follows.
(a) Request frame

Function Frame error
Classification Station no. Address Output Tail (CRLF)
code (05) check
Size (byte) 1 1 2 2 2 2

Function Frame error
code (05) check
Size (byte) 1 1 2 2 2 2

Exceptional
Classification Station no. Error code Tail (CRLF)
code
Size (byte) 1 1 1 2

(a) Station no.: indicates the station no. of slave to write single bit of output area.
(b) Function code: ‘05’ indicating Force Single Coil
(c) Address: start address of data to write and it consists of 2 byte. At this time, start address conforms to
(d) Output: in case of turning on address set in the Address, FF00(Hex) is indicated and in case of turning off
addres set in the Address, it is indicated 0000(Hex).
(e) Frame error check: in case of ASCII mode, it uses LRC and in case of STU mode, it uses CRC. It consists of
2 byte.
(h) Error code: error code is expressed by adding 80(Hex) to function code and in case of Force Single Coil, it is
expressed as 85(Hex).
(i) Exceptional code: indicates detail of error and consists of 1 byte

(3) Frame example

Example that turning on 9th bit to station number 1 server acting as Modbus RTU mode
(a) Request frame

Classificatio Statio Function Address Output
Error check
Frame 01 05 00 08 FF 00 CRC

Error check
Frame 01 05 00 08 FF 00 CRC

Frame 01 85 04 CRC

(1) Individual writing word of output area

In case of writing single word to output area, request and response frame is as follows.
Detail of frame is applied in case of ASCII mode.
a) Request frame
Station Function code Frame error
Classification Address Output Tail (CRLF)
no. (06) check
Size (byte) 1 1 2 2 2 2
b) Response frame (In case of receiving normal frame)

Function code Frame error
(06) check
Size (byte) 1 1 2 2 2 2
c) In case of response frame (In case of receiving abnormal frame)

Size (byte) 1 1 1 2

(a) Station no.: indicates the station no. of slave to write single word of output area.
(b) Function code: ‘06’ indicating Preset Single Register
(c) Address: start address of data to write and it consists of 2 byte. At this time, start address conforms to modbus
address regulation.
(d) Output: data value to write in the address set in the Address.
(e) Frame error check: in case of ASCII mode, it uses LRC and in case of STU mode, it uses CRC. It consists of
2 byte.
(h) Error code: error code is expressed by adding 80(Hex) to function code and in case of writing single word of
output area, it is expressed as 86(Hex).
(i) Exceptional code: indicates detail of error and consists of 1 byte
(3) Frame example

Example writing 0003(Hex) to 9th word of station number 1 server acting as modbus RTU mode
(a) Request frame

Error check
Frame 01 06 00 08 00 03 CRC

Error check
Frame 01 06 00 08 00 03 CRC

Frame 01 86 02 CRC

(1) Continuous writing bit of output area

In case of writing continuous bit to output area, request and response frame is as follows.
(a) Request frame

Frame
Station Function No. of Tail
Classification Address Data size Output error
no. code (0F) output (CRLF)
check
Size (byte) 1 1 2 2 1 N 2 2

Station Function code No. of
Classification Address Frame error check Tail (CRLF)
no. (0F) output
Size (byte) 1 1 2 2 2 2
Exceptional
code
Size (byte) 1 1 1 2

(a) Station no.: indicates the station no. of slave to write continuous bit of output area.
(b) Function code: ‘06’ indicating Force Multiple Coils
(c) Address: start address of data to read and it consists of 2 byte. At this time, start address conforms to
Modbus address regulation.
(d) No. of output: no. of output to write and it consists of 2 byte
Ex.) When writing 10 continuous data from address number 20, no. of output is 000A(Hex)
(e) Data size: indicates no. of output as byte. Namely, in case data size is 1, no. of data is 9.
Ex.) In case of writing 10 continuous bits, data size is 2.
(f) Output: data value to write in the address set in the Address.
(g) Frame error check: in case of ASCII mode, it uses LRC and in case of STU mode, it uses CRC. It consists of
2 byte.
(h) Tail: it is applies in case of ASCII mode, CRLF is added after LRC.
(i) No. of byte: no. of byte of response data
(j) Error code: error code is expressed by adding 80(Hex) to function code and in case of writing continuous bit
of output area, it is expressed as 8F(Hex).
(k) Exceptional code: indicates detail of error and consists of 1 byte.

(3) Frame example

Example writing 10 continuous bits starting 20th address of 1 server acting as Modbus RTU mode
Ex.) Data value to write continuously

Bit value 1 1 0 0 1 1 0 1 0 0 0 0 0 0 0 1
Hex C D 0 1
Address 27 26 25 24 23 22 21 20 - - - - - - 29 28
(a) Request frame

Error
Address No. of output Output
Classifica Station Function Data check
tion no. code Lower Upper Lower size Upper Lower
Upper byte
byte byte byte byte byte
Frame 01 0F 00 13 00 0A 02 CD 01 CRC

Classifica Address No. of output Error
Station no. Function code
tion Upper byte Lower byte Upper byte Lower byte check
Frame 01 04 00 13 00 0A CRC

Classifica
Station no. Function code Exceptional code Error check
tion
Frame 01 8F 01 CRC

(1) Continuous writing word of output area

In case of writing word continuously to output area, request and response frame is as follows.
(a) Request frame

Frame
Station Function No. of Tail
Classification Address Data size Output error
no. code (10) output (CRLF)
check
Size (byte) 1 1 2 2 1 N*2 2 2

Statio Function
Classification Address No. of output Frame error check Tail (CRLF)
n no. code (10)
Size (byte) 1 1 2 2 2 2

Exceptional
code
Size (byte) 1 1 1 2

(a) Station no.: indicates the station no. of slave to write continuous word of output area.
(b) Function code: ‘10’ indicating Preset Multiple Registers
address regulation.
(d) No. of output: no. of output to write and it consists of 2 byte
Ex.) When writing 10 continuous data from address number 20, no. of output is 000A(Hex)
(e) Data size: indicates no. of output as byte. Since data type is word, in case of writing data of 1 word, data size
is 2.
(f) Output: data value to write in the address set in the Address.
(g) Frame error check: in case of ASCII mode, it uses LRC and in case of STU mode, it uses CRC. It consists of
2 byte.
(h) Tail: it is applies in case of ASCII mode, CRLF is added after LRC.
(i) No. of byte: no. of byte of response data
(j) Error code: error code is expressed by adding 80(Hex) to function code and in case of writing continuous
word of output area, it is expressed as 90(Hex).
(k) Exceptional code: indicates detail of error and consists of 1 byte.

(3) Frame example

Example writing continuous 2 words starting 20th address of server 1acting as Modbus RTU mode
Ex.) value to write continuously

Hex C D 0 1 0 0 0 A
Address 20 21
(a) Request frame

Address No. of output
Classific Station Functio Data Error
Upper Lower Upper Lower Output
ation no. n code size check
byte byte byte byte
Frame 01 10 00 13 00 02 04 CD 01 00 0A CRC
Classific Function Address No. of output Error

Station no.
ation code Upper byte Lower byte Upper byte Lower byte check
Frame 01 10 00 13 00 02 CRC

Classifica
Station no. Function code Exceptional code Error check
tion
Frame 01 90 01 CRC

With SoftMaster used, the status of the system and the network can be checked and diagnosed.
Diagnosis function is composed as described below
▶ CPU module information
▶ Communication module information
▶ Frame monitor
▶ Status by service
How to diagnosis system and network status by SoftMaster system diagnosis are described below.
Connect SoftMaster to loader port of main unit and if you select “Online -> Communication module setting -> System
Diagnosis”, the following window is created.
• Select [Online] – [Communication module setting] – [System Dianosis] and click the icon ( ).
• Click the right button on the the relevant module and click Frame Monitor or Status By Service to check.

Check list Detail result
CPU
Module information
1. Select [Online] – [Communication module setting] – [System Diagnosis] or click the icon ( ).
2. You can check the status of main unit by clicking CPU module information after clicking main unit.
Communication
module
information
2. You can check communication module status by clicking communication module information and click the
right button after clicking Snet I/F module and built-in communication.
3. Meaning of each item of communication module information is as follows.
Item Content Remark

Module kind Information of module kind under diagnosis
Base information of communication module under diagnosis. It is
Base number
fixed as 0 at ML50 PLC.
Slot no. of communication module under diagnosis
Slot number
In case of built-in communication, it is fixed as 0.
Station number Station no. of relevant channel used at dedicated service, P2P
Information of communication type (RS-232C, RS-422) of relevant
Connection method
channel
Indicates whether hardware of communication module is normal or
Hardware error
not.
Hardware version Version of communication module hardware
OS version Indicates version of communication module OS
P2P Indicates whether P2P communication is activated or not
System parameter Whether standard communication parameter is downloaded or not
information Standard communication parameter error information expression

The user can check whether frame is normal or not by monitoring TRX frame through Snet I/F module by XG-PD’s frame monitor.
Frame
monitor
2. If you click right button after clinking Snet I/F module and click frame monitor, you can monitor current
communication data.
3. If you use frame monitor function, you can check frame of TRX data between Snet I/F module and external
communication device easily.
4. Detailed content of information indicated frame monitor window is as follows.
Item Content Remark
Standard Base No. Information of base number under diagnosis

information Slot No. Information of slot number under diagnosis
Monitor
Select Channel Select channel to monitor
selections
Form Indicates whether it is TX or RX frame.
Indicates the protocol type
1) ML server
2) ML client
Result 3) Modbus server
Frame 4) Modbus client
monitor 5) User definition frame
window 6) Unknown: frame that Snet can’t deal with
Size Size of frame
Time when sending/receiving the frame
Time In case main unit is standard type (XBM-D***S), it indicates elapsed time
from start.
Frame data Indicates the frame data
View by HEX Indicates the frame data as HEX
View by ASCII Indicates the frame data as ASCII
Start Starts the frame monitor
Stop Stops the frame monitor
Close Closes the frame monitor window

Dedicated service
2. Click the right button on the the Snet I/F module and click Status By Service.
3. Click Dedicated Service tap.
4. Check the status by service by clicking Multiple Reading and Refresh
5. Detailed content of information indicated in dedicated service window is as follows.
Classification Item Content

Multiple reading Checks the dedicated service status every second.
Multiple
Checks the dedicated service status information at
reading/Refresh Refresh
started time
Base Number Information of base number under diagnosis
Standard
Slot Number Information of slot number under diagnosis
information
Link type Type of communication module under diagnosis
Dedicated service information Drive type by service
Dedicated Service Port number Channel number
Indicates how many dedicated service communication is
Detailed Service count
done
information
Indicates how many error occurs during dedicated
window Error count
service communication
Status Indicates status of dedicated service communication

P2P service
1. Select [Online] – [Communication module setting] - [System diagnosis] or click the icon ( ).
2. Click the right button on the the Snet I/F module and click Status By Service.
3. Click P2P service of Status by Service
4. Click mutiple reading and check Status by Service.
Classification Item Contents

Base number Information of base number under diagnosis
Standard
Slot number Information of slot number under diagnosis
information
Link type Type of communication module under diagnosis
P2P parameter
Indicates whether P2P parameter exists or not
P2P service existence
information Indicates the P2P driver by port
Driver type
P2P service ML/Modbus/User definition frame
Available range:0~63
Block number
Only block under operation is indicated.
Detailed Port number Indicates the channel number
information Status Indicates the status by service
Service count Indicates how many P2P service is done.
Error count Indicates how many error occurs during service
Multiple Multiple reading Checks the P2P service status every second.
reading/Refresh Refresh Check the P2P service status when refresh is done.

It is used to check whether Snet I/F module is normal or not.

Dedicated service P2P service
Status Meaning Status Meaning
0 Normal 0 Normal
Error of RX frame head Error of max. station number
1 4
(There is no ACK/NAK.) (Available range: 0~255)
Error of RX frame tail
2 5 Time out
(There is no tail.)
1. Modbus address error
3 BCC error of RX frame FFFE 2. Commands except Read/Write are
used.
Station number of RX frame is different with
9
self station number (Self station number = 0)
0A In case of not get response from CPU
RX frame size exceeds the modbus max. -
0B
frame size
0C RX frame is not Modbus ASCII/RTU.

0D HEX conversion error in Modbus

Phenomenon Reason Trouble shooting

P2P setting error warning in case of
SoftMaster connection
1. In Enable Link menu of
In case of enabling link, SoftMaster, check P2P setting
the user enabled the number and delete P2P number
link where P2P is not not selected properly.
set 2. After disconnecting XG-PD,
connect SoftMaster again and
check

Connect SoftMaster and check CPU
In case CPU is stop mode.
mode If CPU mode is stop, change mode
into RUN.
Tough communication setting is Non-coincidence of Connect XG-PD and click [File] –
completed, Tx/Rx LED of Snet I/F communication standard [Open from PLC]. Check standard
doesn’t flicker parameter between client settings of module acting as client and
and server server.
After executing P2P parameter,
Enable Link setting error
enable right P2P link

1. Consider communication time and
change P2P conditional flag.
2. Communication time: transmission
time + reception time
In case P2P conditional - transmission time: conditional
After setting diverse P2P parameter flag is faster than flag+CPU Scan Time+reaction time of
in P2P block, if frame monitor is communication time communication module+data
executed, response frame is missed. transmission time
- reception time: CPU Scan Time +
reaction time of communication
module+data transmission time
In case that response 1. Increase Delay time in standard

time of partner is slow. settings of XG-PD.


Two response frame are dealt with as unknown when Communication Change
executing frame monitor type in XG-PD is
communication type
set as RS-422 but
as RS-485 and write it
output wiring
to PLC.
method is RS-485

1. Execute 1:1 communication with
More than one server server and check if it works properly.
sends frame 2. Take interlock for servers not to
sends frame simultaneously.
In case parity bit setting is
Set the parity bit to be same each other
not coincident
Unable to analyze TRX frame In case stop bit setting is

Set the stop bit to be same each other
not coincident
In case communication
Set the communication speed to be
speed setting is not
same each other
coincident
In case of multi drop,
terminal resistance is not Install terminal resistance
installed

1. Check Snet I/F module
Unable to know which one is - Check module’s equipment status
-
reason of error, client or server - Check wiring
2.Check main unit status

7) Communication is not normal or communication is not executed repeatedly

In case of multi drop, More 1. Execute 1:1 communication with
than one server sends server and check if it works properly.
frame 2. Take interlock for servers to sends
frame simultaneously.
Connection error of wiring Change cable or check connection of
communication line cable
Communication is not normal or In case of RS-485 (Half
communication is not executed duplex), non-coincidence Increase delay time of client and server
repeatedly of timing of TRX signal
1. When transmission is
not complete,
it requests next process of
transmission Use handshake in program thoroughly
2. When reception is not
complete, it requests next
process of reception

Operation of ML Snet I/F is divided into P2P service and Server.
• P2P service: acts as client (master) and request reading/writing.

- ML client
- Modbus RTU/ASCII client
- User frame definition
• Server: acts as server (slave) and acts according to request
- ML server
- Modbus RTU server
- Modbus ASCII server
Sequence Procedure Setting method
Connection
setting
1
1. Select [Online]-[Connection Settings] or click icon( )

2. Click [Connect] after setting.
Read I/O Select [Online] – [Read I/O Information] or click icon ( )
2
information Reads the information about currently equipped module.
Standard
Settings
1. Double-click Snet I/F module and execute standard setting window. Set Type, Speed, Data bit,
Stop bit, station no. of connection menu.
2. Modem initialization is available in case of dial modem, not null modem.
3. Delay time setting: when sending frame, it sends frame after specific delay time.
(a) Operation setting: Available when type is RS-422/485.
* When using as Modbus ASCII server, data bit should be 7.


Selecting 1. Select active mode of server for user to use.
4 the active 2. ML50 Snet I/F module supports ML server, Modbus ASCII server, Modbus RTU
mode server.
Writing
parameter
5
1. Select [Online] – [Write Parameter] or click icon ( )

2. Click [OK].
3. If you click [OK] button, parameter is sent to PLC.
If you don’t reset relevant module, ML50 Snet I/F module acts as changed parameter.
Checking
the
6 operation
1. Select [Online] – [System Diagnosis] or click icon ( ).

2. Click the right button on the relevant module and click Frame Monitor or Status By Service to check


Standard 1. Step 1~3 is same as described above.
1
settings *In case of ASCII client, data bit should be 7.
Active
2 mode
1. Select Use P2P settings as active mode.
Double-click
P2P
settings
3
1. After selecting P2P setting window, double-clock P2P block address and input base and slot no. of
communication module.
2. P2P 01 is fixed as built-in Snet and base and slot is fixed as 0 and you can’t change that.
P2P
channel
4 setting
1. Double-click P2P driver and select protocol according to each channel.

2. P2P driver supports user definition frame, ML client, Modbus RTU/ASCII client.

P2P block
setting
5
1. P2P items are activated differently according to type of client set in the channel.
2. Write shell according to protocol
* In case of user definition frame, P2P block can be set when user definition frame is written.
Writing
parameter
1. Select [Online] – [Write Parameter] or click icon ( ).

2. Click [OK].
3. If you press [OK], parameter is sent to PLC.
If you don’t reset relevant module, ML50 Snet I/F module acts as changed parameter.
Enabling
the link
7
1. Select [Online] – [Enable Link] or click icon ( ).

2. Click the P2P to enable and click Write.

Checking
the
operation
8
1. Select [Online] – [System Diagnosis] or click icon ( ).

2. Click the right button on the relevant module and click Frame Monitor or Status By Service to check.

About Dedicated communication

• As defined protocol by LSIS, it is classified ML client and ML server
• ML client: requests reading/writing of data to server
• ML server: responds according to request of client
We assume that system configuration of dedicated service example is as [Figure 2.11.1] and communication setting is as
following table.
[Figure 2.11.1] Example of dedicated service system configuration
Type Setting content

Main unit XBM-DN32H
Communication Main unit built-in (RS-232C)
module
Communication type RS-232C
Communication speed 38,400
Data bit 8
Stop bit 1
Parity bit -
Modem type Null modem
Operation cycle 1s
[Table 2.11.1] client setting
Type Setting content

Main unit XBM-DN32H
Communication Main unit built-in (RS-232C)
module
Communication type RS-232C
Data bit 8
Stop bit 1
Parity bit -
Modem type Null modem
Station no. 1
[Table 2.11.2] Server setting

Setting method to operate built-in RS-232C communication channel of Built-n Snet as server is as follows.
Connection
settings
1
1. Select [Online]-[Connection settings] and click ( ).

2. After setting the connection option according to user, click the ‘connection’.
Reading IO Select [Online]-[Read IO Information] and click icon ( ).
2
information IO information of currently mounted is shown on the project window.
Standard
settings
3
1. Set standard settings at built-in communication channel to be same with [Table 10.2.2]’s standard
settings.
2. Since active mode acts as dedicated communication server, set as ML server.

To operate MLL-C21A of client as ML client, set Cent I/F module as follows.
Connection
settings
1
1. Select [Online]-[Connection settings] or click icon ( ).

2
Standard
settings
1. Select Snet described in [Table 2.11.1].

2. In case of acting as client, station setting doesn’t have the meaning so set temporary station
(0~255).
3. When acting as client, active mode should be [Use P2P settings].

After standard settings, P2P channel and P2P block should be set. Setting methods are as follows.

1 P2P setting Click P2P bottom of project window.
Communicat
ion module
settings
2
1. Double-click of project window.

(P2P 01 is fixed as built-in communication module)
2. Select slot number (no. 1) acting as client and press OK.
P2P channel
3 setting
1. Double-click of P2P 02 and set P2P driver of channel 2 as

4 1. Double-click of P2P 02.
Setting of
writing
operation
5
1. Channel: Select ch.2 set as ML client set in P2P channel.
2. Since it executes write operation, select WRITE.
3. Conditional flag: to send frame every 200ms, use flag F92.
4. Command type, Data type: to write 1 word, select single and 2 byte.
5. No. of variable: since no. of word is 1, select 1.
6. Destination station number: input 1 as station number of server.
7. Setting: after setting Read area and Save area, click OK.
1) Read area: device address of data saved in the client
2) Save area: device address of server to save data
* If all settings are completed, color of index of channel becomes black.
Setting of
reading
operation
1. Channel, conditional flag, command type, data type, No. of variable, destination station no.: Same as
described in setting is writing.
2. P2P function: select READ.
3. Setting: after setting Read area and Save area, click [OK].
1) Read area: device address of data saved in server
2) Save area: device address of client to save

Writing
parameter
7

2. Click [OK].
3. If writing parameter is complete After clicking [OK], changed parameter is applied automatically.
Enabling
the link
8
1. Select [Online] – [Enable Link] or click icon ( )


5) Checking the operation

The user can analyze frame by using the frame monitor of XG-PD to check it communication is normal or not. Method of frame
monitor of Snet I/F module is same regardless of protocol.
System
Diagnosis
1
1. Connect with cilent by XG-PD and select [Online] – [System Diagnosis] or click ( ).
2. Click the right button on the relevant module and click Frame Monitor or Status By Service.
Frame
monitor
2
1. Select channel 2 and click Start.

2. Since dedicated service is ASCII communication, select View by ASCII.
* In case of Modbus RTU, select View by HEX and in case of Modbus ASCII, select View by ASCII.

We assume that system configuration of Modbus communication (Modbus RTU mode) example is as [Figure 10.3.1] and
communication setting is as following table.
[Figure 2.11.2] ML Modbus communication system configuration example
• Mount MLL-C41A on no. 1 slot of client PLC
Main unit XBM-DN32S

Communication module MLL-C41A(no.1 Slot)
Communication type RS-485
Data bit 8
Stop bit 1
Parity bit None
Operation cycle 200ms
▶Write 1 word of M100 of client to M1 of server
▶Write 4 words from D0 of client to M2~M5 of server
Write
▶Write 15th bit of M2 to 2nd bit of M20 of server
Operation ▶Write 0~15th bit of M2 to 0~15th bit of M21 of server
status ▶Read 1 word of M2 of server and save it at M160 of client
▶Read 4 words from P0 of server and save it at M150~M153
Read
▶Read 1st bit of P2 of server and save it at 1st bit of M170.
▶Read 0th ~ 15th bit of M10 of server and save it at 0th ~ 15th of M180 of client.
[client setting]
Main unit XBC-DN32H

Communication type Built-in RS-485
Data bit 8
Stop bit 1
Parity bit None
Station no. 1
Bit read area P0
Address
Bit write area M0
Address
Start address
Word write area P0
Address
Word write area M0
Address
[server setting]

Standard settings are as follows to act built-in RS-485 communication channel of XBC-DN32H as Modbus RTU
server.
Connection
setting
1
1. Select [Online]-[Connection settings] or click icon ( )

2 information IO information of currently mounted is shown on the project window.
Standard
settings
3
1. Write setting value as same with [Table 2.11.2] at built-in communication channel 1.
2. Set active mode as Modbus RTU server.
Modbus
setting
4
1. Bit read area Address: P00000 2. Bit write area Address: M0000
3. Word read area Address: P0000 4. Word write area Address: M0000
* In the Bit read/write area Address, upper 4 digit is word address and the last digit is bit address
(P00110: 0th bit of P11th word)

Writing
parameter
5

2. Click [OK]
3. If writing parameter is complete after clicking [OK] button, changed parameter is applied
automatically.
Standard settings are as follows to act MLL-C41A of client as Modbus RTU client.
Connection
setting
1
1. Select [Online]-[Connection settings] or click icon ( ).

2

Standard
settings
3
1. Select MLL-C41A and write standard settings to be same with [Table 2.11.1] at channel
2. Since station setting doesn’t have meaning when acting as client, set as temporary station number
(0~255).
3. When acting as client mode, active mode should be Use P2P settings.

After standard settings, P2P channel and P2P block should be set. Setting methods are as follows.

1 P2P setting Click bottom of project window.
Communica
tion module
setting
2
1. Double-click of project window.

(P2P 01 is fixed as built-in communication)
2. Select slot no. (No. 1) of client module and press OK.
P2P
channel
3 setting
1. Double-click of P2P 01 and set P2P driver of channel 1 as Modbus RTU client and click
[OK].
4 1. Double-click of P2P 02.
Setting of
writing
operation (1)
5 ▶ Write 1 word of M100 of client to M1 of server

1. Ch.: Select ch.2 set as Modbus RTU client set in P2P channel.
2. P2P function: select WRITE.
3. Conditional flag: to send frame every 200ms, use flag F92.
4. Command type, Data type: to write 1 word, select single and 2 byte.
5. Destination station number: select station number of server.
(1) Read area: device address saved in the client (M100)
(2) Save area: deice address of server to save (0x40001: M1)
* If all settings are completed, color of index of channel becomes black.
Setting of
writing
operation (2)
▶ Write 4 words from D0 of client to M2~M5 of server

1. Ch., P2P function, conditional flag, destination station no.: same with step 5
2. Command type, Data type: because of writing continuous 4words, select Continuous, WORD
3. Data size: because of 4 words, input 4.
(1) Read area: device address saved in the client (D0)
(2) Save area: deice address of server to save (0x40002 : M2)

Setting of
reading
operation (1)
▶ Read 1 word of M2 of server and save it at M160 of client

1. Ch., Conditional flag, Command type, Data type, Destination station no.: same with step 5
2. P2P function: select READ
(1) Read area: device address saved in server (0x40002)
(2) Save area: device address of client to save (M0160)
Setting of
reading
operation (2)
▶ Read 4 words from P0 of server and save it at M150~M153

1. Ch., Conditional flag, Command type, Data type, Destination station no.: same with step 6
2. P2P function: select READ.
(1) Read area: device address saved in server (0x30000)
(2) Save area: device address of client to save (M0150)

Writing
parameter
9

2. Click [OK].
3. If writing parameter is complete after click OK, changed parameter is applied automatically.
Enabling
the link
10
1. Select [Online] – [Enable Link] or click icon ( )


When communication with device of which protocol is not supported by Snet I/F module client, how to use user-defined
communication is described in the system like [Figure 2.11.3] below
• System configuration
[Figure 2.11.3] User defined communication system configuration
At this example, Snet I/F module and partner device to communicate through user defined communication
system configuration are as Table below.
Main unit XBC-DN32H
Han-Young temperature controller
Device name Communication
Built-in RS-485 PX7*Note2)
module
Operation mode Client Server
Protocol User frame definition PC Link
Communication
RS-485 RS-485
type
Communication
9,600 9,600
speed
Data bit 8 8
Stop bit 1 1
Parity bit None None
Station no. 0 1
Delay time*note1) 100ms -
Reads present value and setting value from temperature controller every second and
Operation
saves present value at MB200 and setting value at MB210.
[User defined communication system configuration]
Note1) Delay time is set to prevent from frame error when communication with device of which response is slow in case of RS-
422/485 communication. It varies according to partner device and it has 50~100ms value generally.

Frame structure of PC Link, communication protocol of Han-Young used in this example, is as follows.
• Frame of temperature controller is executed as ASCII character string, it can read/write defined D, I Register. There
are two protocols, STD standard protocol and SUM protocol adding Check Sum to standard type and protocol is
selected by parameter of temperature controller. Standard protocol is STD”. It starts with first character STX (0x02)
and ends with last character CR(0x0D) LF(0x0A).
The following [Table 2.11.3] and [Table 2.11.4] indicates structure of standard protocol and Sum protocol.
[Table 2.11.3] standard protocol structure
[Table 2.11.4] SUM protocol structure
In this example, present value and setting value is saved in M device area of PLC. [Table 2.11.5] is frame requesting
continuous data and [Table 2.11.6] is frame responding to request.
[Table 2.11.5] request frame
• DRS: command that request reading continuous D register value. No of data and start address of D register
is necessary.
• In the example, no. of data is 2 and start address is 01.
[Table 2.11.6] response frame

(1) Communication standard parameter setting

For standard setting, refer to setting method when acting as P2P service of 2.10.2 and configure above system
[Table 2.11.1].

(2) Writing frame that requests reading data

Describes how to write frame at XG-PD for user definition communication
frame that requests reading data (Transmission frame)
Sequence Setting method
1. After standard settings, double-click P2P 01 in the P2P window.

2. As for built-in communication, base and slot is fixed as 0. Click OK.
3. Double-click P2P Channel and select User frame definition in Channel 2.
1. Click user definition frame and click right button of mouse.

2. Click ‘Add Group’ and input group name (DRS) and select frame type as transmission.
1. Click ‘Add Frame’ and select type HEAD, TAIL, BODY and input BODY name
2. BODY’s name is test here.
1. If you double-click editor window after selecting DRS.HEAD tap at right screen, segment setting
screen is created.
2. Select Numerical constant which indicates Hex as ASCII code as Form. Input Hex value 2 which
indicates STX.

1. Select Numerical constant which indicates Hex as ASCII code as Form. Input Hex value D, A
which indicates CR and LF.
1. Double-click DRS.test tap and edit segment like the following.

2. Write frame requesting reading data of continuous 2 areas starting first of D register of
station no.1.
3. When double-clicking editor screen and writing frame through segment edition, size of one
segment is less than 10.
1. Result writing entire frame of data reading request frame.

Writing response frame (Reception frame)

1. Write like step 2 of frame that request reading data.

At this time, set Frame type as reception.
2. Frame name is DRS_RECE.
1. Click ‘Add Frame’ and select HEAD, TAIL, BODY as type and input BODY name.
2. BODY’s name is RECE_DRS here.
1. Method writing HEAD, TAIL is same with step 4~5 of method writing frame that request reading
3
data.
1. To save present temperature value in MB200 and setting value in MB210, set the storage area of
1st and 2nd data as set in [Table 10.4.1].
2. Since data size of data 1 and 2 is 4 byte, select Fix sized variable and input 4 in Size
3. To select storage area of data, check Assign memory.
1. This is entire frame to receive response data of temperature controller.

Write P2P TX/RX block as follows by using user definition communication segment written ahead.
1. Double-click P2P block of P2P 01.

2. Input channel selected at P2P channel (user frame definition).
3. In case P2P function is TX frame, select SEND. In case P2P function is RX, select RECEIVE.
4. Conditional flag is activated when P2P function is SEND.
5. Since it reads data every 1 second, use F93 as conditional flag.
6. Click Setting of RX frame and set save area of current temperature and setting value.
2 Execute Write Parameter and Enable Link.
Check whether written frame is transmitted/received properly

1. Select [Online]-[System Diagnsis] or click icon ( )

2. After clicking relevant module and click right button of mouse, select Status by service or
frame monitor.
3. When frame is not dealt with properly, unknown message is displayed.
2 Check device area by device monitor of XG-5000.

Error code is displayed as hex 2 byte (4 byte as ASCII code). The user can see error by frame monitor and in case of
viewing by ASCII, the user can see the following error code.
Error code Error type Error details and causes Example

Number of blocks Number of blocks exceeds 16 at Individual
0003 01rSS1105%MW10…
exceeded Read/Write Request
01rSS010D%MW10000000000
0004 Variable length error Variable Length exceeds the max. size of 16
..
0007 Data type error Other data type than X,B,W,D,L received 01rSS0105%MK10
Data length area information incorrect 01rSB05%MW10%4
In case % is unavailable to start with 01rSS0105$MW10
0011 Data error
Variable’s area value wrong 01rSS0105%MW^&
Other value is written for Bit Write than 00 or 01 01wSS0105%MX1011
Monitor execution
0090 Unregistered monitor execution requested
error
Monitor execution
0190 Reg. No. range exceeded
error
0290 Monitor reg. Error Reg. No. range exceeded
1132 Device memory error Other letter than applicable device is input
Request exceeds the max range of 60 Words to
1232 Data size error 01wSB05%MW1040AA5512,..
read or write at a time.
1234 Extra frame error Unnecessary details exist as added. 01rSS0105%MW10000
Data type All the blocks shall be requested of the identical
1332 01rSS0205%MW1005%MB10
discordant data type in the case of Individual Read/Write
1432 Data value error Data value unavailable to convert to Hex 01wSS0105%MW10AA%5
Variable request
Request exceeds the area each device
7132 area 01rSS0108%MWFFFFF
supports.
exceeded
Error code is displayed as hex 1 byte (2 byte as ASCII code) and indicates type of error.
Code Error type Error details and causes
01 Illegal Function Function code error
02 Illegal Address Address range exceeded
03 Illegal Data Value Data value not allowed

Code Error type Error details and causes

01 ERR_NO_HEAD There is no head of reception frame
02 ERR_NO_TAIL There is no tail of reception frame
03 ERR_WRONG_BCC BCC is not correct
04 ERR_STATION_NO Station number of reception frame is not correct
05 ERR_WRONG_DRV_TYPE Driver type is not correct
07 ERR_FRAME_SND Can’t send TX frame
09 ERR_NO_USE_LINKID There is no communication module
0A ERR_PLC_RESP_TIMEOUT Reception frame is not received during time out setting time
0B ERR_FRM_LENGTH Length of reception frame is not correct
0D ERR_ASCII_HEX_ERR ASC-HEX conversion of reception frame is not correct
0E ERR_RANGE_OVER Area of device is exceeded
0F ERR_NAK_ERR Response of reception frame is NAK

Appendix 1 Flag List

Appendix 1.1 Special Relay (F) List
Word Bit Variables Function Description
%FD0 _SYS_STATE Mode and state Indicates PLC mode and operation State.
%FX0 _RUN Run Run state.
%FX1 _STOP Stop Stop state.
%FX2 _ERROR Error Error state.
%FX3 _DEBUG Debug Debug state.
%FX4 _LOCAL_CON Local control Local control mode.
%FX8 _RUN_EDIT_ST Editing program download during RUN.
%FX9 _RUN_EDIT_CHK Internal edit processing during RUN.
Online editing
%FX10 _RUN_EDIT_DONE Edit is done during RUN.
%FX11 _RUN_EDIT_NG Edit is ended abnormally during RUN.
%FW0~1 %FX12 _CMOD_KEY Operation mode changed by key.

%FX13 _CMOD_LPADT Operation Mode Operation mode changed by local PADT.
%FX14 _CMOD_RPADT Operation mode changed by Remote PADT.
%FX16 _FORCE_IN Forced input Forced input state.
%FX17 _FORCE_OUT Forced output Forced output state.
%FX20 _MON_On Monitor Monitor on execution.
%FX21 _USTOP_On Stop by STOP function PLC stops by STOP function after finishing current scan
%FX22 _ESTOP_On Stop by Estop function PLC stops by ESTOP function promptly
%FX24 _INIT_RUN Initialize Initialization task on execution.

%FX28 _PB1 Program Code 1 Program Code 1 selected.
%FX29 _PB2 Program Code 2 Program Code 2 selected.
%FD1 _CNF_ER System error Reports heavy error state of system.
%FX33 _IO_TYER Module Type error Module Type does not match.
Module detachment
%FX34 _IO_DEER Module is detached.
%FW2~3 error
%FX36 _IO_RWER Module I/O error Module I/O error.
%FX37 _IP_IFER Module interface error Special/communication module interface error.
%FX38 _ANNUM_ER External device error Detected heavy error in external Device.
App1-１ ML50 MLU-DN32HP User’s Manual R100

Word Bit Variable Function Description

%FX40 _BPRM_ER Basic parameter Basic parameter error.
%FX41 _IOPRM_ER IO parameter I/O configuration parameter error.
Special module parameter is
%FX42 _SPPRM_ER Special module parameter
Abnormal.
Communication module Communication module parameter
%FX43 _CPPRM_ER
parameter is abnormal.
%FW2~3 %FX44 _PGM_ER Program error There is error in Check Sum of user program
%FX45 _CODE_ER Program code error Meets instruction can not be interpreted
CPU abnormal stop The saved program is damaged because of CPU
%FX46 _SWDT_ER
Or malfunction abnormal end or program can not be executed.
%FX48 _WDT_ER Scan watchdog Scan watchdog operated.
%FX53 _IO_OVER_ER Expansion module exceed Exceed available number of expansion module
%FD2 _CNF_WAR System warning Reports light error state of system.
%FX64 _RTC_ER RTC data error RTC data Error occurred
%FX65 _DBCK_ER Backup error Data backup error.
%FX66 _HBCK_ER Restart error Hot Restart is not available
%FX67 _ABSD_ER Operation shutdown error Stop by abnormal operation.
%FX68 _TASK_ER Task collision Tasks are under collision
%FX69 _BAT_ER Battery error There is error in battery status
%FX70 _ANNUM_WAR External device error Detected light error of external device.
%FW4~5 %FX72 _HS_WAR1 High speed link 1 High speed link – parameter 1 error.
%FX73 _HS_WAR2 High speed link 2 High speed link – parameter 2 error.
%FX84 _P2P_WAR1 P2P parameter 1 P2P – parameter 1 error.
%FX92 _CONSTANT_ER Constant error Constant error.
%FX95 _EIP_TAG_WAR Abnormal EIP TAG information Ethernet/IP TAG information incorrect
%FW8 %FX128 _CONTANT_RUN Constant run Constant running
%FW9 _USER_F User contact Timer used by user.
%FX144 _T20MS 20ms 20ms cycle clock
%FX147 _T1S 1s Clock 1s cycle clock
%FX148 _T2S 2 s Clock 2s cycle clock
%FW9
%FX153 _On Ordinary time On Always On state Bit.
%FX154 _Off Ordinary time Off Always Off state Bit.
%FX155 _1On 1scan On First scan On Bit.
%FX156 _1Off 1scan Off First scan OFF bit.
%FX157 _STOG Reversal Reversal every scan.
4-2-２ ML50 MLU-DN32HP User’s Manual R100

%FW11 _LOGIC_RESULT Logic result Indicates logic results.
%FW11 %FX176 _ERR operation error On during 1 scan in case of operation error.
%FX181 _LER Operation error latch Continuously On in case of operation error
%FW13 - _AC_F_CNT Power shutdown times Saves the times of power shutdown
%FW14 - _FALS_NUM FALS no. Indicates FALS no.

%FW15 - _PUTGET_ERR0 PUT/GET error 0 Main base Put / Get error.
%FW23 - _PUTGET_NDR0 PUT/GET end 0 Main base Put/Get end.
%FW44 - _CPU_TYPE CPU Type Indicates information for CPU Type.
%FW45 - _CPU_VER CPU version Indicates CPU version.
%FD23 - _OS_VER OS version Indicates OS version.
%FD24 - _OS_DATE OS date Indicates OS distribution date.
%FW50 - _SCAN_MAX Max. scan time Indicates max. scan time.
%FW51 - _SCAN_MIN Min. scan time Indicates min. scan time.
%FW52 - _SCAN_CUR Current scan time Current scan time.
%FW53 - _MON_YEAR Month/year Clock data (month/year)
%FW54 - _TIME_DAY Hour/date Clock data (hour/date)
%FW55 - _SEC_MIN Second/minute Clock data (Second/minute)
%FW56 - _HUND_WK Hundred year/week Clock data (Hundred year/week)
%FD30 - _REF_COUNT Refresh count Increase when module Refresh.
%FD31 - _REF_OK_CNT Refresh OK Increase when module Refresh is normal.
%FD32 - _REF_NG_CNT Refresh NG Increase when module Refresh is Abnormal.
%FD40 - _BUF_FULL_CNT Buffer Full Increase when CPU internal buffer is full.
%FD41 - _PUT_CNT Put count Increase when Put count.
%FD42 - _GET_CNT Get count Increase when Get count.
%FD43 - _KEY Current key indicates the current state of local key.
%FD44 - _KEY_PREV Previous key indicates the previous state of local key
App1-３ ML50 MLU-DN32HP User’s Manual R100


%FW90 - _IO_TYER_N Mismatch slot Module Type mismatched slot no.
%FW91 - _IO_DEER_N Detach slot Module detached slot no.
%FW93 - _IO_RWER_N RW error slot Module read/write error slot no.
%FW95 - _IP_IFER_N IF error slot Module interface error slot no.
%FW96 - _IO_TYER0 Module Type 0 error Main base module Type error.
%FW104 - _IO_DEER0 Module Detach 0 error Main base module Detach error.
%FW120 - _IO_RWER0 Module RW 0 error Main base module read/write error.
%FW128 - _IO_IFER_0 Module IF 0 error Main base module interface error.
%FW136 _RTC_DATE RTC current date RTC current date
%FW137 _RTC_WEEK RTC current day RTC current day
%FD69 _RTC_TOD Current time of RTC (unit: ms) As time data based on 00:00:00 within one day, unit is ms
%FD70 - _AC_FAIL_CNT Power shutdown times Saves the times of power shutdown.
%FD71 - _ERR_HIS_CNT Error occur times Saves the times of error occur.
%FD72 - _MOD_HIS_CNT Mode conversion times Saves the times of mode conversion.
%FD73 - _SYS_HIS_CNT History occur times Saves the times of system history.
%FD74 - _LOG_ROTATE Log Rotate Saves log rotate information.
%FW150 - _BASE_INFO0 Slot information 0 Main base slot information.
%FW158 _RBANK_NUM Currently used block No. Indicates currently used block no.
%FW173 _PLS_CATCH[0..15] Pulse Catch Result Maintain pulse catch result for 1scan
%FD89 _OS_VER_PATCH OS Version Patch OS Version Patch
- _USER_WRITE_F Available contact point Contact point available in program.

%FX3200 _RTC_WR RTC RW Data write and read in RTC.
%FX3201 _SCAN_WR Scan WR Initializing the value of scan.
%FW200
Request detection of external
%FX3202 _CHK_ANC_ERR Request detection of external error.
serious error
Request detection of external
%FX3216 _CHK_ANC_WAR Request detection of external slight error (warning).
slight error(warning)
- _USER_STAUS_F User contact point User contact point.
%FW201
%FX3216 _INIT_DONE Initialization completed Initialization complete displayed.
Display information of external
%FW202 - _ANC_ERR Display information of external serious error
serious error
Display information of external
%FW203 - _ANC_WAR Display information of external slight error(warning)
slight error(warning)
%FW210 - _MON_YEAR_DT Month/year Clock data (month/year)
%FW211 - _TIME_DAY_DT Hour/date Clock data (hour/date)
%FW212 - _SEC_MIN_DT Second/minute Clock data (Second/minute)
%FW213 - _HUND_WK_DT Hundred year/week Clock data (Hundred year/week)
Array –index- range
%FW272 %FX4352 _ARY_IDX_ERR Error flag is indicated when exceeding the no. of array
exceeded- error flag
Array –index- range
%FW274 %FX4384 _ARY_IDX_LER Error latch flag is indicated when exceeding the no. of array
exceeded- latch-error flag
4-2-４ ML50 MLU-DN32HP User’s Manual R100

Appendix 1.2 Communication Relay (L) List
(1) High-speed Link Flag(L)

High-speed link no. 1~ 5
Device Keyword Type Description

High speed link parameter 1 normal operation of all station
Indicates normal operation of all station according to parameter set in High speed
link, and On under the condition as below.
%LX0 _HS1_RLINK Bit 1. In case that all station set in parameter is RUN mode and no error,
2. All data block set in parameter is communicated normally, and
3. The parameter set in each station itself is communicated normally.
Once RUN_LINK is On, it keeps On unless stopped by LINK_DISABLE.
Abnormal state after _HS1RLINK On
In the state of _HSmRLINK flag On, if communication state of the station set in
the parameter and data block is as follows, this flag shall be On.
%LX1 _HS1_LTRBL Bit 1. In case that the station set in the parameter is not RUN mode, or
2. There is an error in the station set in the parameter, or
3. The communication state of data block set in the parameter is not good.
LINK TROUBLE shall be On if the above 1, 2 & 3 conditions occur, and if the
condition return to the normal state, it shall be OFF again.
Indicates total status of High Speed Link no.1 ***th block
%LX32 ~ _HS1_STATE*** Bit Indicates total status of communication information about each data block of
%LX95 (*** = 000~063) Array parameter
_HS1_STATE*** = HS1MOD*** &_HS1TRX*** &(~_HS1_ERR***)
%LX96 ~ _HS1_MOD*** Bit RUN operation mode of High Speed Link parameter no.1 ***th block station
%LX159 (*** = 000~063) Array Indicates operation mode of station set in *** data block of parameter
Indicates normal communication with High Speed Link no.1 ***th block station
%LX160 ~ _HS1_TRX*** Bit
%LX223 (*** = 000~063) Array Indicates whether communication status of *** data block of parameter is normal
or not.
Operation error mode of High Speed Link parameter no.1 ***th block station
%LX224 ~ _HS1_ERR*** Bit
%LX287 (*** = 000~063) Array Indicates whether there is error at communication status of *** data block of
parameter
%LX288 ~ Bit Indicates High Speed Link parameter no.1 ***th block setting
_HS1_SETBLOCK***
%LX767 Array Indicates whether *** data block of parameter is set or not.
Block
Address Note
Number
2 %LX416~%LX767
3 %LX928~%LX1279
For each block flags, refer to the table on the preceding page.
4 %LX1344~%LX1679
5 %LX1744~%LX2079
k that is the block number indicates the information of 64 blocks in the range of 00~63 through 4 words; 16 per 1
word. For example, the mode information(_HS1MOD) indicates the information of the block 0~15 in L0006; the
information of block 16~31, 32~47, 48~63 in %LW0007, %LW0008, %LW0009. Accordingly, the mode
information of block No. 55 is indicated in %LW000097.
App1-５ ML50 MLU-DN32HP User’s Manual R100

(2) P2P Flag(L)

P2P parameter: 1~3, P2P block: 0~31

Indicates P2P parameter 1, 0 Block service
%LX8192 _P2P1_NDR00 Bit
normal end.
%LX8193 _P2P1_ERR00 Bit
abnormal end.
Indicates error code in case of P2P parameter 1, 0 Block
%LW513 _P2P1_STATUS00 Word
service abnormal end.
%LD257 _P2P1_SVCCNT00 DWord
normal count.
%LD261 _P2P1_ERRCNT00 DWord
abnormal count.
%LX8288 _P2P1_NDR01 Bit P2P parameter 1, 1 Block service normal end.
%LX8289 _P2P1_ERR01 Bit P2P parameter 1, 1 Block service abnormal end.

Indicates error code in case of P2P parameter 1, 1 Block service
%LW519 _P2P1_STATUS01 Word
abnormal end.
%LD260 _P2P1_SVCCNT01 DWord
normal count.
%LD261 _P2P1_ERRCNT01 DWord
abnormal count.
In terms of P2P parameter No.1 block, a total of 32 blocks from No.0 to No.31 exist. The parameters of each block
have the same size and display function as the above table.
P2P Number L Address Note
1 %LW512~%LW703
2 %LW704~%LW895
3 %LW896~%LW1087
Please refer to the above table for the block-flag respectively.
4 %LW1088~%LW1279
5 %LW1280~%LW1471
6 %LW1472~%LW1663
4-2-６ ML50 MLU-DN32HP User’s Manual R100

(3) Network Resistor(N)

P2P parameter: 1~6, P2P block: 0~31
%NW0000 _P1B00SN Word Saves another station no. of P2P parameter 1, 00 block.
%NW0001~ Device
_P1B00RD1 Saves area device 1 to read P2P parameter 1, 00 block.
%NW0004 Structure
%NW0005 _P1B00RS1 Word Saves area size 1 to read P2P parameter 1, 00block.
%NW0006~ Device
%NW0009 Structure
%NW0010 _P1B00RS2 Word Saves area size 2 to read P2P parameter 1, 00 block.
%NW0011~ Device
%NW0014 Structure
%NW0016~ Device
%NW0019 Structure
%NW0021~ Device
_P1B00WD1 Saves area device 1 to save P2P parameter 1, 00 block..
%NW0024 Structure
%NW0025 _P1B00WS1 Word Saves area size 1 to save P2P parameter 1, 00 block
%NW0026~ Device
_P1B00WD2 Saves area device 2 to save P2P parameter 1, 00 block..
%NW0029 Structure
%NW0030 _P1B00WS2 Word Saves area size 2 to save P2P parameter 1, 00 block.
%NW0031~ Device
_P1B00WD3 Saves area device 3 to save P2P parameter 1, 00 block.
%NW0034 Structure
%NW0035 _P1B00WS3 Word Saves area size 3 to save P2P parameter 1, 00block.
%NW0036~ Device
%NW0039 Structure
%NW0041 _P1B01SN Word Saves another station no. of P2P parameter 1, 01 block.
%NW0042~ Device
%NW0045 Structure
%NW0047~ Device
%NW0050 Structure
%NW0052~ Device
%NW0055 Structure
%NW0057~ Device
%NW0060 Structure
%NW0062~ Device
%NW0065 Structure
%NW0067~ Device
%NW0070 Structure
%NW0072~ Device
%NW0075 Structure
App1-７ ML50 MLU-DN32HP User’s Manual R100

%NW0077~ Device
%NW0080 Structure
P2P Number Address for ‘L’ region 비 고

1 %NW0000~%NW1311(CNet)
2 %NW1312~%NW2623(ENet)
3 %NW2624~%NW3935(Expansion) For the saving area parameters of each block, refer
4 %NW3936~%NW5247(Expansion) to the above table.
5 %NW5248~%NW6559(High Speed Expansion)
6 %NW6560~%NW7872(High Speed Expansion)
Note
(1) When you set P2P parameters through SoftMaster, N area is automatically set up.
(2) The N area is the flash area so it cannot be used as the internal device. (Cannot write)
4-2-８ ML50 MLU-DN32HP User’s Manual R100

(4) ASCII(American National Standard Code for Information Interchange) Code table
ASCII ASCII ASCII ASCII
Value Value Value Value
HEX DEC HEX DEC HEX DEC HEX DEC
00 000 NULL 40 064 @ 20 032 (space) 60 096 `

01 001 SOH 41 065 A 21 033 ! 61 097 a
02 002 STX 42 066 B 22 034 " 62 098 b
03 003 ETX 43 067 C 23 035 # 63 099 c
04 004 EQT 44 068 D 24 036 $ 64 100 d
05 005 ENQ 45 069 E 25 037 % 65 101 e
06 006 ACK 46 070 F 26 038 & 66 102 f
07 007 BEL 47 071 G 27 039 ' 67 103 g
08 008 BS 48 072 H 28 040 ( 68 104 h
09 009 HT 49 073 I 29 041 ) 69 105 i
0A 010 LF 4A 074 J 2A 042 * 6A 106 j
0B 011 VT 4B 075 K 2B 043 + 6B 107 k
0C 012 FF 4C 076 L 2C 044 ` 6C 108 l
0D 013 CR 4D 077 M 2D 045 - 6D 109 m
0E 014 SO 4E 078 N 2E 046 . 6E 110 n
0F 015 SI 4F 079 O 2F 047 / 6F 111 o
10 016 DLE 50 080 P 30 048 0 70 112 p
11 017 DC1 51 081 Q 31 049 1 71 113 q
12 018 DC2 52 082 R 32 050 2 72 114 r
13 019 DC3 53 083 S 33 051 3 73 115 s
14 020 DC4 54 084 T 34 052 4 74 116 t
15 021 NAK 55 085 U 35 053 5 75 117 u
16 022 SYN 56 086 V 36 054 6 76 118 v
17 023 ETB 57 087 W 37 055 7 77 119 w
18 024 CAN 58 088 X 38 056 8 78 120 x
19 025 EM 59 089 Y 39 057 9 79 121 y
1A 026 SUB 5A 090 Z 3A 058 : 7A 122 z
1B 027 ESC 5B 091 [ 3B 059 ; 7B 123 {
1C 028 FS 5C 092 \ 3C 060 < 7C 124 |
1D 029 GS 5D 093 ] 3D 061 = 7D 125 }
1E 030 RS 5E 094 ^ 3E 062 > 7E 126 ~
1F 031 US 5F 095 _ 3F 063 ? 7F 127 •
App1-９ ML50 MLU-DN32HP User’s Manual R100

Appendix 2 Dimension
Appendix 2 Dimension (Unit: mm)

0B
(1) CPU Type

-. MLU-DN32HP
App2-1 ML50 MLU-DN32HP User’s Manual R100

(2) Extension I/O module
-. MLE-DC32A, MLE-TN32A, MLE-TP32A, MLE-DN32A
B A
20
19
18
17
16
15
14
13
12
11
10
09
08
07
06
05
04
03
02
01
-. MLE-RY16A

-. MLE-DC08A, MLE-DC16A, MLE-TN08A, MLE-TN16A
-. MLE-DR16A, MLE-RY08A

(4) Extension Snet I/F Module
. MLL-C41A, MLL-C21A

Appendix 3 Instruction List

The list of function and function block. For each function and function block, please refer to 2MLI/2MLR/MLI/MLU user’s manuals for
Instruction
Appendix 3.1 Basic Function

Appendix 3.1.1 Type Conversion Function
It converts each input data type into an output data type.
Function Group Function Input data type Output data type Remarks
ARY_ASC_TO_BYTE WORD(ASCII) BYTE
ARY_ASC_TO_***
ARY_ASC_TO_BCD WORD(ASCII) BYTE(BCD)
ARY_BYTE_TO_*** ARY_BYTE_TO_ASC BYTE WORD(ASCII)
ARY_BCD_TO_*** ARY_BCD_TO_ ASC BYTE(BCD) WORD(ASCII)
ASC_TO_BCD BYTE(BCD) USINT
ASC_TO_***
ASC_TO_BYTE WORD(BCD) UINT
BYTE_BCD_TO_SINT BYTE(BCD) SINT
WORD_BCD_TO_INT WORD(BCD) INT
DWORD_BCD_TO_DINT DWORD(BCD) DINT
LWORD_BCD_TO_LINT LWORD(BCD) LINT
BCD_TO_***
BYTE_BCD_TO_USINT BYTE(BCD) USINT
WORD_BCD_TO_UINT WORD(BCD) UINT
DWORD_BCD_TO_UDINT DWORD(BCD) UDINT
LWORD_BCD_TO_ULINT LWORD(BCD) ULINT
BCD_TO_ASC BCD_TO_ASC BYTE(BCD) WORD
BYTE_TO_ASC BYTE_TO_ASC BYTE ASC(BYTE)
TRUNC_REAL REAL DINT
TRUNC
TRUNC_LREAL LREAL LINT
REAL_TO_SINT REAL SINT
REAL_TO_INT REAL INT
REAL_TO_DINT REAL DINT
REAL_TO_LINT REAL LINT
REAL_TO_USINT REAL USINT
REAL_TO_*** REAL_TO_UINT REAL UINT
REAL_TO_UDINT REAL UDINT
REAL_TO_ULINT REAL ULINT
REAL_TO_DWORD REAL DWORD
REAL_TO_LREAL REAL LREAL
REAL_TO_STRING REAL STRING
LREAL_TO_SINT LREAL SINT
LREAL_TO_INT LREAL INT
LREAL_TO_*** LREAL_TO_DINT LREAL DINT
LREAL_TO_LINT LREAL LINT
LREAL_TO_USINT LREAL USINT
LREAL_TO_UINT LREAL UINT
LREAL_TO_UDINT LREAL UDINT
LREAL_TO_ULINT LREAL ULINT
LREAL_TO_***
LREAL_TO_LWORD LREAL LWORD
LREAL_TO_REAL LREAL REAL
LREAL_TO_STRING LREAL STRING
SINT_TO_INT SINT INT
SINT_TO_*** SINT_TO_DINT SINT DINT
SINT_TO_LINT SINT LINT

SINT_TO_USINT SINT USINT
SINT_TO_UINT SINT UINT
SINT_TO_UDINT SINT UDINT
SINT_TO_ULINT SINT ULINT
SINT_TO_BOOL SINT BOOL
SINT_TO_BYTE SINT BYTE
SINT_TO_WORD SINT WORD
SINT_TO_DWORD SINT DWORD
SINT_TO_LWORD SINT LWORD
SINT_TO_REAL SINT REAL
SINT_TO_LREAL SINT LREAL
SINT_TO_STRING SINT STRING
INT_TO_SINT INT SINT
INT_TO_DINT INT DINT
INT_TO_LINT INT LINT
INT_TO_USINT INT USINT
INT_TO_UINT INT UINT
INT_TO_UDINT INT UDINT
INT_TO_ULINT INT ULINT
INT_TO_*** INT_TO_BOOL INT BOOL
INT_TO_BYTE INT BYTE
INT_TO_WORD INT WORD
INT_TO_DWORD INT DWORD
INT_TO_LWORD INT LWORD
INT_TO_REAL INT REAL
INT_TO_LREAL INT LREAL
INT_TO_STRING INT STRING
DINT_TO_SINT DINT SINT
DINT_TO_INT DINT INT
DINT_TO_LINT DINT LINT
DINT_TO_USINT DINT USINT
DINT_TO_UINT DINT UINT
DINT_TO_***
DINT_TO_UDINT DINT UDINT
DINT_TO_ULINT DINT ULINT
DINT_TO_BOOL DINT BOOL
DINT_TO_BYTE DINT BYTE
DINT_TO_WORD DINT WORD
DINT_TO_DWORD DINT DWORD
DINT_TO_LWORD DINT LWORD
DINT_TO_*** DINT_TO_REAL DINT REAL
DINT_TO_LREAL DINT LREAL
DINT_TO_STRING DINT STRING
LINT_TO_SINT LINT SINT
LINT_TO_*** LINT_TO_INT LINT INT
LINT_TO_DINT LINT DINT
LINT_TO_USINT LINT USINT
LINT_TO_UINT LINT UINT
LINT_TO_UDINT LINT UDINT
LINT_TO_ULINT LINT ULINT
LINT_TO_BOOL LINT BOOL
LINT_TO_BYTE LINT BYTE
LINT_TO_WORD LINT WORD
LINT_TO_DWORD LINT DWORD
LINT_TO_LWORD LINT LWORD
LINT_TO_REAL LINT REAL
LINT_TO_LREAL LINT LREAL

LINT_TO_STRING LINT STRING
USINT_TO_SINT USINT SINT
USINT_TO_INT USINT INT
USINT_TO_DINT USINT DINT
USINT_TO_LINT USINT LINT
USINT_TO_UINT USINT UINT
USINT_TO_UDINT USINT UDINT
USINT_TO_ULINT USINT ULINT
USINT_TO_*** USINT_TO_BOOL USINT BOOL
USINT_TO_BYTE USINT BYTE
USINT_TO_WORD USINT WORD
USINT_TO_DWORD USINT DWORD
USINT_TO_LWORD USINT LWORD
USINT_TO_REAL USINT REAL
USINT_TO_LREAL USINT LREAL
USINT_TO_STRING USINT STRING
UINT_TO_SINT UINT SINT
UINT_TO_INT UINT INT
UINT_TO_DINT UINT DINT
UINT_TO_LINT UINT LINT
UINT_TO_USINT UINT USINT
UINT_TO_*** UINT_TO_UDINT UINT UDINT
UINT_TO_ULINT UINT ULINT
UINT_TO_BOOL UINT BOOL
UINT_TO_BYTE UINT BYTE
UINT_TO_WORD UINT WORD
UINT_TO_DWORD UINT DWORD
UINT_TO_LWORD UINT LWORD
UINT_TO_REAL UINT REAL
UINT_TO_*** UINT_TO_STRING UINT STRING
UINT_TO_LREAL UINT LREAL
UINT_TO_DATE UINT DATE
UDINT_TO_SINT UDINT SINT
UDINT_TO_INT UDINT INT
UDINT_TO_DINT UDINT DINT
UDINT_TO_LINT UDINT LINT
UDINT_TO_USINT UDINT USINT
UDINT_TO_UINT UDINT UINT
UDINT_TO_ULINT UDINT ULINT
UDINT_TO_BOOL UDINT BOOL
UDINT_TO_*** UDINT_TO_BYTE UDINT BYTE
UDINT_TO_WORD UDINT WORD
UDINT_TO_DWORD UDINT DWORD
UDINT_TO_LWORD UDINT LWORD
UDINT_TO_REAL UDINT REAL
UDINT_TO_LREAL UDINT LREAL -
UDINT_TO_TOD UDINT TOD -
UDINT_TO_TIME UDINT TIME -
UDINT_TO_STRING UDINT STRING -
ULINT_TO_SINT ULINT SINT -
ULINT_TO_INT ULINT INT -
ULINT_TO_DINT ULINT DINT -
ULINT_TO_*** ULINT_TO_LINT ULINT LINT -
ULINT_TO_USINT ULINT USINT -
ULINT_TO_UINT ULINT UINT -
ULINT_TO_UDINT ULINT UDINT -

ULINT_TO_BOOL ULINT BOOL -
ULINT_TO_BYTE ULINT BYTE -
ULINT_TO_WORD ULINT WORD -
ULINT_TO_DWORD ULINT DWORD -
ULINT_TO_LWORD ULINT LWORD -
ULINT_TO_REAL ULINT REAL -
ULINT_TO_LREAL ULINT LREAL -
ULINT_TO_STRING ULINT STRING -
BOOL_TO_SINT BOOL SINT -
BOOL_TO_INT BOOL INT -
BOOL_TO_DINT BOOL DINT -
BOOL_TO_LINT BOOL LINT -
BOOL_TO_*** BOOL_TO_USINT BOOL USINT -
BOOL_TO_UINT BOOL UINT -
BOOL_TO_UDINT BOOL UDINT -
BOOL_TO_ULINT BOOL ULINT -
BOOL_TO_BYTE BOOL BYTE -
BOOL_TO_WORD BOOL WORD -
BOOL_TO_DWORD BOOL DWORD -
BOOL_TO_***
BOOL_TO_LWORD BOOL LWORD -
BOOL_TO_STRING BOOL STRING -
BYTE_TO_SINT BYTE SINT -
BYTE_TO_INT BYTE INT -
BYTE_TO_DINT BYTE DINT -
BYTE_TO_LINT BYTE LINT -
BYTE_TO_USINT BYTE USINT -
BYTE_TO_UINT BYTE UINT -
BYTE_TO_*** BYTE_TO_UDINT BYTE UDINT -
BYTE_TO_ULINT BYTE ULINT -
BYTE_TO_BOOL BYTE BOOL -
BYTE_TO_WORD BYTE WORD -
BYTE_TO_DWORD BYTE DWORD -
BYTE_TO_LWORD BYTE LWORD -
BYTE_TO_STRING BYTE STRING -
WORD_TO_SINT WORD SINT -
WORD_TO_INT WORD INT -
WORD_TO_DINT WORD DINT -
WORD_TO_LINT WORD LINT -
WORD_TO_USINT WORD USINT -
WORD_TO_UINT WORD UINT -
WORD_TO_UDINT WORD UDINT -
WORD_TO_***
WORD_TO_ULINT WORD ULINT
WORD_TO_BOOL WORD BOOL
WORD_TO_BYTE WORD BYTE
WORD_TO_DWORD WORD DWORD
WORD_TO_LWORD WORD LWORD
WORD_TO_DATE WORD DATE
WORD_TO_STRING WORD STRING
DWORD_TO_SINT DWORD SINT
DWORD_TO_INT DWORD INT
DWORD_TO_DINT DWORD DINT
DWORD_TO_LINT DWORD LINT
DWORD_TO_***
DWORD_TO_USINT DWORD USINT
DWORD_TO_UINT DWORD UINT
DWORD_TO_UDINT DWORD UDINT
DWORD_TO_ULINT DWORD ULINT

DWORD_TO_BOOL DWORD BOOL
DWORD_TO_BYTE DWORD BYTE
DWORD_TO_WORD DWORD WORD
DWORD_TO_LWORD DWORD LWORD
DWORD_TO_REAL DWORD REAL
DWORD_TO_TIME DWORD TIME
DWORD_TO_TOD DWORD TOD
DWORD_TO_*** DWORD_TO_STRING DWORD STRING
LWORD_TO_SINT LWORD SINT
LWORD_TO_INT LWORD INT
LWORD_TO_DINT LWORD DINT
LWORD_TO_LINT LWORD LINT
LWORD_TO_USINT LWORD USINT
LWORD_TO_UINT LWORD UINT
LWORD_TO_UDINT LWORD UDINT
LWORD_TO_*** LWORD_TO_ULINT LWORD ULINT
LWORD_TO_BOOL LWORD BOOL
LWORD_TO_BYTE LWORD BYTE
LWORD_TO_WORD LWORD WORD
LWORD_TO_DWORD LWORD DWORD
LWORD_TO_LREAL LWORD LREAL
LWORD_TO_DT LWORD DT
LWORD_TO_STRING LWORD STRING
STRING _TO_SINT STRING SINT
STRING _TO_INT STRING INT
STRING _TO_DINT STRING DINT
STRING _TO_LINT STRING LINT
STRING _TO_USINT STRING USINT
STRING _TO_UINT STRING UINT
STRING _TO_UDINT STRING UDINT
STRING _TO_ULINT STRING ULINT
STRING _TO_BOOL STRING BOOL
STRING_TO_*** STRING _TO_BYTE STRING BYTE
STRING _TO_WORD STRING WORD
STRING _TO_DWORD STRING DWORD
STRING _TO_LWORD STRING LWORD
STRING _TO_REAL STRING REAL
STRING _TO_LREAL STRING LREAL
STRING _TO_DT STRING DT
STRING _TO_DATE STRING DATE
STRING _TO_TOD STRING TOD
STRING _TO_TIME STRING TIME
TIME_TO_UDINT TIME UDINT
TIME_TO_*** TIME_TO_DWORD TIME DWORD
TIME_TO_STRING TIME STRING
DATE_TO_UINT DATE UINT
DATE_TO_*** DATE_TO_WORD DATE WORD
DATE_TO_STRING DATE STRING
TOD_TO_UDINT TOD UDINT
TOD_TO_*** TOD_TO_DWORD TOD DWORD
TOD_TO_STRING TOD STRING
DT_TO_LWORD DT LWORD
DT_TO_DATE DT DATE
DT_TO_***
DT_TO_TOD DT TOD
DT_TO_STRING DT STRING
***_TO_BCD SINT_TO_BCD_BYTE SINT BYTE(BCD)

INT_TO_BCD_WORD INT WORD(BCD)
DINT_TO_BCD_DWORD DINT DWORD(BCD)
LINT_TO_BCD_LWORD LINT LWORD(BCD)
USINT_TO_BCD_BYTE USINT BYTE(BCD)
UINT_TO_BCD_WORD UINT WORD(BCD)
UDINT_TO_BCD_DWORD UDINT DWORD(BCD)
ULINT_TO_BCD_LWORD ULINT LWORD(BCD)

Appendix 3.1.2 Numerical Operation Function
(1) Numerical Operation Function with One Input

No. Function name Description Remarks
General Function
1 ABS Absolute value operation
2 SQRT Square root operation
Log function
3 LN Natural logarithm operation
4 LOG Common logarithm Base to 10 operation
5 EXP Natural exponential operation
Trigonometric function
6 SIN Sine operation
7 COS Cosine operation
8 TAN Tangent operation
9 ASIN Arc sine operation
10 ACOS Arc Cosine operation
11 ATAN Arc Tangent operation
Angle function
12 RAD_REAL
Convert degree into radian
13 RAD_LREAL
14 DEG_REAL
Convert radian into degree
15 DEG_LREAL
(2) Basic Arithmetic Function

Operation function of which input number (n) can be extended up to 8.
1 ADD Addition (OUT <= IN1 + IN2 + ... + INn)
2 MUL Multiplication (OUT <= IN1 * IN2 * ... * INn)
Operation function of which input number is fixed.
3 SUB Subtraction (OUT <= IN1 - IN2)
4 DIV Division (OUT <= IN1 / IN2)
5 MOD Calculate remainder (OUT <= IN1 Modulo IN2)
6 EXPT Exponential operation (OUT <= IN1IN2)
7 MOVE Copy data (OUT <= IN)
Input data exchange
8 XCHG_*** Exchanges two input data

Appendix 3.1.3 Bit Arrary Function
(1) Bit-shift Function

1 SHL Shift input to the left of N bit(the right is filled with 0)
2 SHR Shift input to the right of N bit (the left is filled with 0)
3 SHIFT_C_*** Shift input to designated direction as much as N bit (carry)
4 ROL Rotate input to the left of N bit
5 ROR Rotate input to the right of N bit
6 ROTATE_C_*** Rotate input to the direction as much as N bit (carry)
(2) Bit Operation Function
No. Function name Description (n can be extended up to 8) Remarks

1 AND Logical AND (OUT <= IN1 AND IN2 AND ... AND INn)
2 OR Logical OR (OUT <= IN1 OR IN2 OR ... OR INn)
3 XOR Exclusive OR (OUT <= IN1 XOR IN2 XOR ... XOR INn)
4 NOT Reverse logic (OUT <= NOT IN1)
5 XNR Exclusive logic AND (OUT <= IN1 XNR IN2 XNR ... XNR INn)
Appendix 3.1.4 Selection Function
No. Function name Description(n can be extended up to 8) Remarks

1 SEL Selects from two inputs (IN0 or IN1)
2 MAX Produces the maximum value among input IN1,...INn
3 MIN Produces the minimum value among input IN1,...INn
4 LIMIT Limits upper and lower boundaries
5 MUX Outputs the K-th input among input IN1,…INn

Appendix 3.1.5 Data Exchange Function

SWAP_BYTE Swaps upper NIBBLE for lower NIBBLE data of BYTE.
SWAP_WORD Swaps upper BYTE for lower BYTE data of WORD.

1
SWAP_DWORD Swaps upper WORD for lower WORD data DWORD.
SWAP_LWORD Swaps upper DWORD for lower DWORD data of LWORD.
ARY_SWAP_BYTE Swaps upper/lower NIBBLE of BYTE elements in array.
ARY_SWAP_WORD Swaps upper/lower BYTE of WORD elements in array.

2
ARY_SWAP_DWORD Swaps upper/lower WORD of DWORD elements in array.
ARY_SWAP_LWORD Swaps upper/lower DWORD of LWORD elements in array.
Appendix 3.1.6 Comparison Function
No. Function name Description (n can be extended up to 8) Remarks

‘Greater than’ comparison
1 GT OUT <= (IN1>IN2) & (IN2>IN3) & ... & (INn-1 > INn)
‘Greater than or equal to’ comparison
2 GE OUT <= (IN1>=IN2) & (IN2>=IN3) & ... & (INn-1 >= INn)
‘Equal to’ comparison
3 EQ OUT <= (IN1=IN2) & (IN2=IN3) & ... & (INn-1 = INn)
'Less than or equal to' comparison
4 LE OUT <= (IN1<=IN2) & (IN2<=IN3) & ... & (INn-1 <= INn)
‘Less than’ comparison
5 LT OUT <= (IN1<IN2) & (IN2<IN3) & ... & (INn-1 < INn)
‘Not equal to’ comparison
6 NE OUT <= (IN1<>IN2) & (IN2<>IN3) & ... & (INn-1 <> INn)
Appendix 3.1.7 Character String Function

Find a length of a character string
1 LEN
Take a left side of a string (size of L) and output it
2 LEFT
Take a right side of a string (size of L) and output it
3 RIGHT
Take a middle side of a string (size of L from the P-th character)
4 MID
Concatenate the input character string in order
5 CONCAT
Insert the second string after the P-th character of the first string
6 INSERT
Delete a string (size of L from the P-th character)
7 DELETE
Replace a size of L from the P-th character of the first string by
8 REPLACE the second string
Find a starting point of the first string which has a same
9 FIND pattern of the second string.

Appendix 3.1.8 Date and Time of Day Function

1 ADD_TIME Add time (Time/time of day/date and time addition)
2 SUB_TIME Subtract time (Time/time of day/date and time subtraction)
SUB_DATE Calculate time by subtracting date from date
SUB_TOD Calculate time by subtracting TOD from TOD
SUB_DT Calculate time by subtracting DT from DT
3 MUL_TIME Multiply number to time
4 DIV_TIME Divide time by number
5 CONCAT_TIME Concatenate date to make TOD

Appendix 3.1.9 System Control Function

1 DI Invalidates interrupt (Not to permit task program starting)
2 EI Permits running for a task program
3 STOP Stop running by a task program
4 ESTOP Emergency running stop by a program
5 DIREC_IN Update input data
6 DIREC_O Updates output data
7 WDT_RST Initialize a timer of watchdog
8 MCS Master Control
9 MCSCLR Master Control Clear
10 FALS Self check(error display)
11 OUTOFF Output Off
Appendix 3.1.10 File Function
No. Function block name Description Remarks

1 RSET Setting file register block number

Appendix 3.1.11 Data Manipulation Function

1 MEQ_*** Compare whether two inputs are equal after masking
2 DIS_*** Data distribution
3 UNI_*** Unite data
4 BIT_BYTE Combine 8 bits into one BYTE
5 BYTE_BIT Divide one BYTE into 8 bits
6 BYTE_WORD Combine two bytes into one WORD
7 WORD_BYTE Divide one WORD into two bytes
8 WORD_DWORD Combine two WORD data into DWORD
9 DWORD_WORD Divide DWORD into 2 WORD data
10 DWORD_LWORD Combine two DWORD data into LWORD
11 LWORD_DWORD Divide LWORD into two DWORD data
12 GET_CHAR Get one character from a character string
13 PUT_CHAR Puts a character in a string
14 STRING_BYTE Convert a string into a byte array
15 BYTE_STRING Convert a byte array into a string
Appendix 3.1.12 Stack Operation Function
1 FIFO_*** First In First Out

2 LIFO_*** Last In First Out

Appendix 3.2 GLOFA Function
No. Function name Description(n can be extended up to 8) Remarks

1 ENCO_B,W,D,L Output a position of On bit by number
2 DECO_B,W,D,L Turn a selected bit on
3 BSUM_B,W,D,L Output a number of On bit
4 SEG_WORD Convert BCD/HEX into 7-segment code
5 BMOV_B,W,D,L Move part of a bit string
6 INC_B,W,D,L Increase IN data
7 DEC_B,W,D,L Decrease IN data
Appendix 3.3 Array Operation Function

1 ARY_MOVE Copy array-typed data (OUT <= IN)
2 ARY_CMP_*** Array comparison
3 ARY_SCH_*** Array search
4 ARY_FLL_*** Filling an array with data
5 ARY_AVE_*** Find an average of an array
6 ARY_SFT_C_*** Array bit shift left with carry
7 ARY_ROT_C_*** Bit rotation of array with carry
8 SHIFT_A_*** Shift array elements
9 ROTATE_A_*** Rotates array elements

Appendix 3.4 Basic Function Block

Appendix 3.4.1 Bi-stable Function Block

1 SR Set preference bistable
2 RS Reset preference bistable

3 SEMA Semaphore
Appendix 3.4.2 Edge Detection Function Block

1 R_TRIG Rising edge detector
2 F_TRIG Falling edge detector
3 FF Reverse output if input condition rises
Appendix 3.4.3 Counter

Up Counter
1 CTU_***
INT,DINT,LINT,UINT,UDINT,ULINT
Down Counter
2 CTD_***
Up Down Counter
3 CTUD_***
4 CTR Ring Counter
Appendix 3.4.4 Timer

1 TP Pulse Timer
2 TON On-Delay Timer
3 TOF Off-Delay Timer
4 TMR Integrating Timer
5 TP_RST TP with reset
6 TRTG Retriggerable Timer
7 TOF_RST TOF with reset
8 TON_UINT TON with integer setting
9 TOF_UINT TOF with integer setting
10 TP_UINT TP with integer setting
11 TMR_UINT TMR with integer setting
12 TMR_FLK Blink timer
13 TRTG_UINT Integer setting retriggerable timer

Appendix 3.4.5 File Function Block
1 EBREAD Read R area data from flash area

2 EBWRITE Write R area data to flash area
Appendix 3.4.6 Other Function Block
1 SCON Sequence Step and Step Jump

2 DUTY Scan setting On/Off
3 RTC_SET Write time data
Appendix 3.4.7 Special Function Block

1 GET Read special module data
2 PUT Write special module data
3 ARY_GET Read special module data(array)
4 ARY_PUT Write special module data(array)

Appendix 3.4.10 Positioning Function Block

1 XPM_ORG Homing Start
2 XPM_FLT Floating Origin Setting
3 XPM_DST Direct Start
4 XPM_IST Indirect Start
5 XPM_SST Simultaneous Start
6 XPM_VTP Speed/Position Switching Control
7 XPM_VTPP Position specified Speed/Position Switching Control
8 XPM_PTV Position/Speed Switching Control
9 XPM_STP Deceleration Stop
10 XPM_SKP Skip Operation
11 XPM_SSP Position Synchronization
12 XPM_SSS Speed Synchronization
13 XPM_SSSP Position Assigned Speed Synchronization
14 XPM_POR Position Override
15 XPM_SOR Speed Override
16 XPM_PSO Position Assigned Speed Override
17 XPM_NMV Continuous Operation
18 XPM_INC Inching Operation
19 XPM_RTP Repeat Step Number Change
20 XPM_SNS Start Step Change
21 XPM_SRS Repeat operation step no. change
22 XPM_MOF M Code Release
23 XPM_PRS Current Position Change
24 XPM_EPRE Encoder value preset
25 XPM_ATEA Teaching array
26 XPM_SBP Basic parameter teaching
27 XPM_SEP Extended parameter teaching
28 XPM_SHP Homing parameter teaching
29 XPM_SMP Manual operation parameter teaching
30 XPM_SIP I/O signal parameter teaching
31 XPM_SCP Common Parameter Teaching
32 XPM_SMD Operation Data Teaching
33 XPM_VRD Read Variable Data
34 XPM_VWR Write Variable Data


35 XPM_EMG Emergency Stop
36 XPM_RST Error Reset
37 XPM_HRST Error History Reset
38 XPM_PST Point Start
39 XPM_WRT Parameter/operation data save
40 XPM_CRD Operation Information Read
41 XPM_SRD Operation State Read
42 XPM_ENCRD Encoder Value Read
43 XPM_JOG JOG Operation
44 XPM_CAM CAM Operation
45 XPM_CAMO Main Axis Offset CAM Operation
46 XPM_ELIN Ellipse Interpolation
47 XPM_RSTR Restart
48 XPM_SVON Servo On
49 XPM_SVOFF Servo Off
50 XPM_SRST Servo Error Reset
51 XPM_EPREB Encoder Value Preset (XEMH2, XEMHP Internal Position Only)
52 XPM_ENCRDB Encoder Value Read(XEMH2, XEMHP Internal Position Only)
Appendix 3.5 Expanded Function

1 FOR
Repeat a block of FOR ~ NEXT n times
2 NEXT
3 BREAK Escape a block of FOR ~ NEXT
4 CALL Call a SBRT routine
5 SBRT Assign a routine to be called by the CALL function
6 RET RETURN
7 JMP Jump to a place of LABLE
8 INIT_DONE Terminate an initial task
9 END Terminate a program

HONEYWELL ASIA PACIFIC AFFILIATES
Australia Japan Philippines

Honeywell Ltd. Honeywell Inc. Honeywell Systems (Philippines) Inc.
Phone: (61) 2-9353-7000 Phone: (81) 3-6730-7149 Phone: (63) 2-633-2830/31
Fax: (61) 7-3840-6488 Fax: (81) 3-6730-7228 Fax: (63) 2-638-4013
Indonesia South Korea Singapore

PT Honeywell Indonesia Honeywell Co., Ltd. Honeywell Pte Ltd.
Phone: (62) 21-535-8833 Phone: (82) 2-799-6114 Phone: (65) 6355-2828
Fax: (62) 21-536-71008 Fax: (82) 2-792-9015 Fax: (65) 6445-3033
India Malaysia Thailand

Honeywell Automation India Limited. Honeywell Engineering Sdn Bhd. Honeywell System (Thailand) Ltd.
Phone: (91) 20-6603-9400 Phone: (603) 7958-4988 Phone: (662) 693-3099
Fax: (91) 20-6603-9800 Fax: (603) 7958-8922 Fax: (662) 693-3085
Taiwan New Zealand

Honeywell Taiwan Ltd. Honeywell Ltd.
Phone: (886) 2-2245-1000 Phone: (64) 9-623-5050
Fax: (886) 2-2245-3243 Fax: (64) 9-623-5060
For Countries (SEAsia) Listed below. See Honeywell Singapore Office

Pakistan, Cambodia, Laos, Myanmar, Vietnam and East Timor.
For Countries Listed below. See Honeywell Automation India Limited.

Bangladesh, Nepal and Sri Lanka.
Honeywell offers a complete portfolio of products and solutions for process and machine control applications, including controllers, recorders,
transmitters, actuators, smart sensors, and analytical instruments. To learn more about these offerings and how they can help your organization
achieve breakthrough results, contact your local Honeywell representative or contact us at the following phone numbers;
U.S.A.: 1-800-784-3011 France: 33 1 60 19 80 75

Canada: 1-800-461-0013 Italy: 39 02 9214 6503
UK: 44 1344 655251 Spain: 34 91313.61.00
Germany: 49 69 8064-336 Asia/Pacific: 65 6355 2828
Latin America: 1-305-805-8188
This manual is subject to change without notice
Honeywell Process Solution

Field Solution Asia Pacific
Honeywell Building
www.honeywellprocess.com/
17 Changi Business Park Central 1
Singapore 486073

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Programmable Logic Controller

MLU series Hardware User’s Manual

Last Revision Date: 13 April 2019

Honeywell Field Solution

This symbol indicates the possibility of serious injury or death if

This symbol indicates the possibility of slight injury or damage to

Be careful! Danger may be expected.

Be careful! Electric shock may occur.

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

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

Safety Instructions when designing

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

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

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

Safety Instructions for waste disposal

V 1.0 2019.01 1. First Edition - -

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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