Volume 2 Table of Contents
Contents
1. 4 22 MODBUS Function Codes Supported 0 0 eee eee ee nee 4 22 MODBUS Read from Network MRX 0 eee eee eee eee eee eee 4 23 MRX Slave Memory Address llle 4 24 MRX Master Memory Addresses 00 eee eee eee nee 4 24 MRX Number of Elements 0 0 cee es meea eee aia 4 24 MRX Exception Response Buffer 0 0 eee eee eee eee ene 4 24 MODBUS Write to Network MWX lesse III Ih 4 25 MWX Slave Memory Address 0 0 ee eee eee teenies 4 26 MWX Master Memory Addresses 0 0c ee eee eee eee 4 26 MWX Number of Elements 0 lille 4 26 MWX Exception Response Buffer 0 0 0 cece eee eee 4 26 MRX MWX Example in DirectSOFT 2 1 0 0 0 cece eee eee 4 27 Multiple Read and Write Interlocks 0 0 0 2 eee ee eee eee 4 27 Chapter 5 Standard RLL Instructions Introduction sose casas eae eee rr ARSE aE RR RR RR RR See ee es 5 2 Using Boolean Instructions ooooooooronocnonoooooonooncor oo 5 5 END Statement ecse cc RR RR RR RE ee ee aa e acia ica 5 5 Simple RUNS x sssesscs obese ERREUR ewe wees wile ces hoes babe ES 5 5 vi l DL06 Micro PLC User Manual 3rd Edition Rev C Table of Contents i Normally Closed Contact 0 0 eee eee eee eee eee 5 6 Contacts In Series aceite tata dedo de bad eed ein 5 6 Midline Outputs i55 cess opci n a dada da E CO ES 5 6 Parallel Elemients soii ati olsen tete str RP dd Be des 5 72. o o ooooccorooooooorommmmorrsnm o J 2 Member Countries 0 cc ccc cece eee hh J 2 Applicable Directives eulx ere aro tao E HEC ede dees J 2 Compliance 64 406 ese ere eese ee eee e ce seen id dede oes J 2 General Safety csi a id dde dal J 3 Special Installation Manual llle J 4 Other Sources of Information 0 0 0 cc ccc ccc err J 4 Basic EMC Installation Guidelines ooooooooooooorororrommooo J 5 dis TTC J 5 Electrostatic Discharge ESD 2 0 cece ce tect oiii ie J 5 AC Mains Filters 2 0202 a RR RR RR aa a RUN RR RR J 6 Suppression and Fusing 0 cece I e J 6 Internal Enclosure Grounding ss sses saap esda eee ee eee eee nee J 6 Equi potential Grounding 0 eee eee e J 7 Communications and Shielded Cables 0 0c eee eee eee eee J 7 Analog and RS232 Cables 0 2 0c ee eee ene nae J 8 Multidrop Cables 2 rib e cn eec ese da usa e pucr KORR RR RR RR a J 8 Shielded Cables within Enclosures eee J 8 Analog Modules and RF Interference 0 0 eee eee eee eee J 9 Network Isolation 2 0 ehh J 9 DC Powered Versions 0 ccc ccc ehh hh J 9 Items Specific to the DLO6 ooooocooocoooocoocoo eee J 10 Appendix K Introduction to Serial Communications Introduction to Serial Communications 0 cece ee eee eee eee K 2 Wiring Standards s vs aus iaa a te wide Mokena ad p b EG ee alate de wes K 2 Communications Pro
3. 0 cece nee teen eee eee E 41 DL06 Micro PLC User Manual 3rd Edition Rev C xix Table of Contents AAA ee Setup for Mode 30 cesser RR be ed da E 42 Profile Velocity Select Register llle E 43 Profile Parameter Table 0 0 eee RII E 43 Automatic Trapezoidal Profile sa seiate cee A E 43 Step Trapezoidal Profile o oo ooooomoooooroororoorrorcor ooo E 44 Velocity Control eee citar att ee hoot added E 44 Step Trapezoidal Profile csse III E 44 Choosing the Profile Type 2 eee III E 45 Automatic Trapezoidal Profile Defined lese E 45 Step Trapezoidal Profiles Defined lese E 46 Velocity Control Defined sssssssscisisisisiieri hirere eee eee E 46 Automatic Trapezoidal Profile Operation 6 0 0 eee e E 47 Program Example 1 Automatic Trapezoidal Profile without External Interrupt E 48 Preload Position Value 2 oe cece In E 49 Program Example 2 Automatic Trapezoidal Profile with External Interrupt E 50 Program Example 3 Automatic Trapezoidal Profile with Home Search E 53 Step Trapezoidal Profile Operation 0 0 0 cee ce eee eee E 58 Program Example 4 Step Trapezoidal Profile o oooooooom o E 59 Velocity Profile Operation lisse III E 62 Program Example 5 Velocity Profile ccce E 63 Automatic Trapezoidal Profile Error Codes 1 6 eee eee ee E 65 Troubleshooting Guide for Mode 30 0
4. ise seek eek eee d n a E a a RA RV 7 9 Stage Program Example A Garage Door Opener 0 cee eee 7 10 Garage Door Opener Example 0 cee eee eee ee 7 10 Draw the Block Diagram 0 2 eee eee eee 7 10 Draw the State Diagram 02 cee I 9 7 11 Add Safety Light Feature 0 eee kantis 7 12 Modify the Block Diagram and State Diagram 0 000000 7 12 Using a Timer Inside a Stage 1 ee eee eee 7 13 Add Emergency Stop Feature 0 0 cece eee nee 7 14 Exclusive Transitions lcs III I a 7 14 Stage Program Design Considerations lees 7 15 X DLO0G Micro PLC User Manual 3rd Edition Rev C Table of Contents Stage Program Organization cee eee eee 7 15 How Instructions Work Inside Stages 0 cee eee ene 7 16 Using a Stage as a Supervisory Process csse nn 7 17 Stage Counter i personas a eese s tetas at b PE ERE Ed E 7 17 Power Flow Transition Technique 0 0 00 cece III 7 18 Stage View In DirectSOFT i ck etario acera ete atacado dba bad EE EE 7 18 Parallel Processing Concepts llle o 7 19 Parallel Processes 1 22 Ebo e esee oie dled added ale ds 7 19 Converging Processes cess ese re peer hh a da REPRE EE E Y 7 19 Convergence Stages CV micosis ri atacara atacaba a ERR RE ERE EE E 7 19 Convergence Jump CVJMP ieres aasa enaa naea n 7 20 Convergence Stage Guidelines 2 2 eee ee eee 7 20 RLLPLUS
5. RR E 24 Functional Block Diagram ssie ei cessa e eee eens E 24 Quadrature Encoder Signals sess ec 0 0 eee ce eee E EPE Es E 25 Wiring Diagram s esetere saati me eto a a tata tetas E 25 Interfacing to Encoder Outputs 0 eee n E 26 Setup for Mode 20 seegi etu ns wees eee a bebe eben E 27 Presets and Special Relays cucccuciiovaeke abana sado E 27 X Input Configuration ec kek e ese rhv e RR AY SS See PEE RE eee E 28 Mode 20 Up Down Counter 0 cece eee I E 28 Writing Your Control Program se eei ae pa I II E 29 Program Example 1 Quadrature Counting with an Interrupt E 30 Program Example 2 Up Down Counting with Standard Inputs E 32 Program Example 3 Quadrature Counting 00 eee eee coco E 34 Troubleshooting Guide for Mode 20 0 2 0 eee eee eee eee E 37 Symptom The counter does not count 2 2 eee ee eee eee E 37 Symptom The counter counts in the wrong direction 04 E 37 Symptom The counter counts up and down but will not reset E 37 Mode 30 Pulse Output 0 ccc ce cee eee eee hn E 38 Purposes repteri ETENN id E 38 Functional Block Diagram 0 0 0 eee eee eee eee E 39 Wiring Diagramm i zem mm daa E 40 Interfacing to Drive Inputs leleeeee IIR E 40 Motion Profile Specifications llle III E 41 Physical I O Configuration sseeeeee III E 41 Logical I O Functions
6. Stage Instructions 0 ee n 7 21 Stage SG esca ala Seg aaa aed a She Bia Bie By Ri a a Glas at a aes 7 21 Initial Stage ISG estet x ale o IRR OR Ru a dd a RR RR 7 22 Jump IMP ix ide PSR RUN A o RD Fan Fan Fue Giana aac 7 22 Not Jump NJMD i Ree e eons eee ld UA GLA GEER A WE 7 22 Converge Stage CV and Converge Jump CVJMP 00 ee eee eens 7 23 Block Call BCALD 2 2 4 4044 442 a55 3 eee ha alee oe ee ee ee ODES e d e OA S EES 7 25 Block BLK 1 1 rr IE a a Be a E ame Ca UR wR 7 25 Block End BEND aiii a a a a eR EE RA 7 25 Questions and Answers about Stage Programming 00e0 eee 7 27 Chapter 8 PID Loop Operation DLO6 PID Control ee ce eee eee s 8 2 DLO6 PID Control Features sis 65 veu RR YA REA AA HE P Y GER 8 2 Introduction to PID Control o ooooooooooooooono s 8 4 What is PID Control 2 222 ences mer Ure RIED Bey EMEN E ene eere 8 4 Introducing DLO6 PID Control lsseleeee n 8 6 Process Control Definitions cele RR IRR A 8 8 PID Loop Operation ves ek ha ra ERREUR UNUS TR OR obs AAA 8 9 Position Form of the PID Equation 0 0 ec III 8 9 Reset Windup Protection 0 cece eee n 8 10 Freeze Blas voce c 4 4 na al aM OE ew eee wawe ge ex ES 8 11 AdjUSting the Blas ici Mae OUS UU SA asad Re RR e eee dee es 8 11 DL06 Micro PLC User Manual 3rd Edition Rev C xi Table of Contents AAA oe e Step Bias Propor
7. and Configuration DLO6 System Design Strategies llle 4 2 l O Systern Configurations sess ssa e e ks rag gear eile e RO e ed 4 2 Networking Configurations seeseeee II 4 2 Module Placement i265 esses n nre eee a 4 3 Slot Numbering cds ERR Ra Y Re hy e SERE e 4 3 Automatic I O Configuration sss seseseserekese seese ae Kae aa e iii uia 4 4 Manual I O Configuration cece een eee 4 4 Power Budgeting o o cicc dis ces ku ed hse vee eae a 4 5 Powers pplied susie ee dedude rr a a EE EREKE E EEE RON Rer ea 4 5 Power required by base unit 2 eee eee eee ee 4 5 Power required by option cards 0 0 eee ee ee eens 4 5 Configuring the DLO6 s Comm Ports 0 cece eee nnn 47 DLO6 Port Specifications secechesa esas ss E EESEEE Sp RR RO e e P e eme seed 4 7 DEO6 Port PINGUIS veo ec men erem en GAA tede ec dei e 4 7 Choosing a Network Specification cese 4 8 RS 232 INEEWO K 5 3 settore cepa tetur a B Horn EUR Sh iol al ae dee e ed 4 8 RS 422 NetWork 2 333 6 detere teta eoi d e duo RAE Aa iced dne ec dele e 4 8 RS 485 INGDWOIK creosote iie na Pate dw bou DEL LIE de Parked e 4 8 Connecting to MODBUS and DirectNET Networks oooo oooooo o 4 9 MODBUS Port Configuration 0 0 0 eee cece eee nee 4 9 DirectNET Port Configuration 0 2 eee eee eee eee 4 10 Non Sequence Protocol ASCII In Out and PRINT s selle 4 11 Non Sequence Port Co
8. ee A 7 AUX 5D Select PLC Scan Mode vico cies cheba de deca RR RE ous A 7 AUX 6 Handheld Programmer Configuration sese A 8 AUX 61 Show Revision Numbers 0 e eee eee eee eee ene eee A 8 AUX 62 Beeper On Off 4 sss be ea ee aaie See e RR ee ee EEA ES A 8 AUX 65 Run Self Diagnostics sieur os eda Seda Eee eee ee a ey A 8 AUX 7 EEPROM Operations 0 0 0 ccc ccc ccc n nn A 8 Transferrable Memory Areas 0 0 0 cee eee eee I I A 8 AUX 71 CPU to HPP EEPROM 2 2 cee eee ee ete ene eee A 8 AUX 72 HPP EEPROM to CPU 1 0 eee ee I eens A 9 AUX 73 Compare HPP EEPROM to CPU 6 ee eee A 9 AUX 74 HPP EEPROM Blank Check 2 0 cee eee eee ete eee A 9 AUX 75 Erase HPP EEPROM 2 cece I IA A nia A 9 AUX 76 Show EEPROM Type 0 cece cece eee e A 9 xvi DLO06 Micro PLC User Manual 3rd Edition Rev C Table of Contents i AUX 8 Password Operations 0 ccc cece eee eee eens A 9 AUX 81 Modify Password 0 eee ee eee eens A 9 AUX 82 Unlock CPU caida ea caia ddd dd b 4 dd a ee A 10 AUX 83 Lock CPU eese cease thts btadd dvdad aste andes A 10 Appenedix B DLO6 Error codes DLO6 Error Codes o p br REEL TREE EE Y B 2 Appendix C Instruction Execution Times Introduction ym a esas C 2 V Memory Data Registers rase aa eai ea ai sa saia a C 2 V Memory Bit Registers cus mne so aae eenia a iaiia E ER ER E ae C 2 How to Read th
9. eee eee teens 5 194 Read from Intelligent Module RD 0 eee ee eee eee 5 194 Write to Intelligent Module WT 00 eee ee eee eens 5 195 Network Instructions 2 0 0 0 cee ce eee II eens 5 196 Direct Text Entty eue ii o RR SS ee 5 200 Embedding date and or time variables llle 5 201 Embedding V memory data 0 cee eee ete ene ee eee 5 201 Data Format Suffixes for Embedded V memory Data 00000 5 202 Text Entry from VemeMOry veia r ees 5 203 MODBUS RTU Instructions ooooocoocoononnnoooonooo o 5 204 MRX Slave Address Ranges viii kee RR rte esata dad asada cake dias 5 205 MWX Slave Address Ranges 0 eee cece eee eee eee 5 208 MWX Master Memory Address Ranges 0 0 ee eee eee eee eee 5 208 MWX Number of Elements 00 cece eee eee ees 5 208 MWX Exception Response Buffer sosse aeiee anaa a a e a eee 5 208 ASCII Instructions secco rei e ku OE RERERGUR EORR RU RR RR EEEE 5 210 Reading ASCII Input Strings sessi ss kkk 2 eee RII 5 210 Writing ASCII Output SINGS ssa d ico Datta wae gate eo RU a O ges 5 210 Managing the ASCII Strings 2 cee eee eee 5 211 Intelligent Box IBox Instructions oo ooooococoooooomoomoom o 5 230 l DLO0G Micro PLC User Manual 3rd Edition Rev C Table of Contents VOLUME Two TABLE OF CONTENTS Chapter 6 Drum Instruction Programming INTFOUUCLION orc ersrrrroreri e a
10. 10 High Speed Counter 0 0 cc ccc ce eee nh E 7 PUT OOS es akg ak of Pm E 7 Functional Block Diagram 20 0 cece ee ene teens E 7 Wining Diagrami iio e e toe be OS E 8 Interfacing to Counter Inputs srca iiia saai i ii aE E I E 8 Setup for Mode TO rererere eee bebe eae A E 9 Presets and Special Relays ssr ciiai dai ioii eee e E 9 Absolute and Incremental Presets cieee 0 0 cc ccc eee eee E 10 Preset Data Starting Location sssi isi e esrin sa ee eee E 11 Using Fewer than 24 Presets ce cese ce cesena e soia ii i E E 11 l DLO0G Micro PLC User Manual 3rd Edition Rev C s Table of Contents i Equal Relay Numbers 2cicccccactamorebababeheeeeeteeeet PE e bebe begs E 12 Calculating Your Preset Values llle E 13 X Input Config tation csset ek rrt aora Oe PEER ere ved E 14 Writing Your Control Program 2 eee I III E 15 Program Example 1 Counter Without Presets 0 00002 eee eee E 16 Program Example 2 Counter With Presets 0 0 cece eee eee E 18 Program Example 3 Counter With Preload 0 0 cece eee eee E 21 Troubleshooting Guide for Mode 10 0 2 eee eee eee eee E 23 Symptom The counter does not count 2 2 eee ee eee ee E 23 Symptom The counter counts but the presets do not function E 23 Symptom The counter counts up but will not reset o oo ooo oo o E 23 Mode 20 Up Down Counter 0 cee cece eee nnn E 24 A
11. Changing Date and Time 4 5 ease hore ek tech dee ne ri B nent 10 14 Menu 4 M4 CALENDAR R W llle eens 10 14 Setting Password and Locking cece eee eee eee ene 10 17 Menu 5 M5 PASSWORD R W 6 e I eee 10 17 Reviewing Error History ios eR e e aca a 10 20 Menu 6 M6 i ERR HISTORY ssc x sepe ek ERR RR ER RR RR Rae ee 10 20 Toggle Light and Beeper Test Keys esee 10 21 Meri Z MZ LCD TEST amp SET 2 meci iE 50s See Senda tesa dea ce e ue 10 21 PLC Memory Information for the LCD Display Panel 10 22 Data Format Suffixes for Embedded V memory Data 00000 10 22 Reserved memory registers for the LCD Display Panel oo ooooo o o 10 23 V7742 bit definitions 22 26 nhe reso Re ad 10 24 Changing the Default Screen 1 0 0 0 cee eee eee eee 10 25 Example program for setting the default screen message 10 25 DLO6 LCD Display Panel Instruction LCD 0 cee eee 10 26 Source Of message iz xd oa ae bene de dae be ed aed whe a 10 26 ASCII Character Codes iaa ii rta coed de eed eed and aod Dw n 10 27 Example program alarm with embedded date time stamp 10 28 Example program alarm with embedded V memory data 10 29 Example program alarm text from V memory with embedded V memory data 10 30 Appendix A Auxiliary Functions lntrod cti h i e eet e esse RR ERR Rim e A 2 DL06 Micro PLC User Manua
12. Joining Series Branches in Parallel ooooo ooooooooooooooooooooo 5 7 Joining Parallel Branches in Series 0 llle 5 7 Combination Networks 0 0 llle I eee 5 7 Comparative Boolean soii cia gal eee e ha eet o4e ba ed eS 5 8 Boolean Stack s 3 454 0s2 sevice suse dd shaded deed badd EX dd 5 8 Immediate Boolean 2 2 ete eee eens 5 9 Boolean Instructions 0 0 ccc cee ee ee ee ee hn 5 10 Comparative Boolean lee hn 5 26 Immediate Instructions lille hn 5 32 Timer Counter and Shift Register Instructions o o oooo oo o 5 39 USING TIMERS isse oe aa woe we we yx Wie aaa a a e gea e 5 39 Timer Example Using Discrete Status Bits s ssa ecce 5 41 Timer Example Using Comparative Contacts 0 0 cee cece eee 5 41 Accumulating Timer Example using Discrete Status Bits o o oo oo o 5 43 Accumulator Timer Example Using Comparative Contacts ooooo oo 5 43 USING Counters ico SS laa aaa TR pc n 5 44 Counter Example Using Discrete Status Bits 5 46 Counter Example Using Comparative Contacts oooo ooooooomoomo oo 5 46 Stage Counter Example Using Discrete Status Bits ooooooooooooo 5 48 Stage Counter Example Using Comparative Contacts 0 0 0 0 eee 5 48 Up Down Counter Example Using Discrete Status Bits o oo o 5 50 Up Down Counter Example Using Comparative Contacts 0 5 50 Accumulator Stack Load
13. VOLUME ONE TABLE OF CONTENTS Chapter 1 Getting Started Introduction oo ci eee eee ea Dae eH ee ORDERS EER RE RE 1 2 The Purpose of this Manual 6 0 ccc III 1 2 Supplemental Manuals s 60 0 6 04 shee ee te RE om a SE as 1 2 Technical Support za sees sa ae bee ow ee Re RR peek eked oe komme ois 1 2 Conventions Used e ee eee eee hie en 1 3 Key Topics for Each Chapter 2 0 0 ccc cee ee eee 1 3 DLO6 Micro PLC Overview 0c ccc cee eee tee eee eee 1 4 The DLOG PLC Features escort bbe doh E ER bd e dosi 1 4 DirectSOFT Programming for Windows 1 1 0 0 0 cee eee eee 1 4 Handheld Programmer 0 cee cee eee eee eee ee 1 5 I O Quick Selection Guide elle 1 5 Quick Start soil das SUR OS ee a 1 6 Steps to Designing a Successful System oooooooommoommo rro eee 1 10 Questions and Answers about DLO6 Micro PLCs 2 cee eee 1 12 Chapter 2 Installation Wiring and Specifications Safety Guidelines iii a tala bia aa taa 8 Dn 2 2 EIA e te REPRISE PER a RR CR e ios arg acces eer EENE GEN 2 2 Three Levels of Protection 2 scccseneeav eee s ae bese ys Rr Re ees 2 3 Err rgency Stops usen ees ete etre b ed ee e ate e etaed AAA 2 3 Emergency Power DIsconhect esse RR RR UR RR RR hee ele dete S ROI be Sea Tere Ree ee 2 4 Orderly System Shutdown ss ess sssarsresr EE E EEEE EE eee eee eae 24 Class 1 Division 2 Approval lisse RII 2 4 Orientation to DLO6 Fro
14. and Output Data Instructions 5 52 Using the Accumulator ss 0 0 eee ee ene ene ene 5 52 Copying Data to the Accumulator 0 0 ccc cc eee ters 5 52 Changing the Accumulator Data 0 0 0 eee eee ee eee 5 53 Using the Accumulator Stack 0 0 0 eee eee ene eee 5 54 USING POINTES sese RR RR ee oe all ase al a eg n 5 55 Logical Instructions Accumulator 0 cee eee eee eee eee 5 69 Math Instructions i i isses m n nnn exse saasaa eae ene ees 5 86 Transcendental Functions 0 0 cece eee eh hn 5 118 DL06 Micro PLC User Manual 3rd Edition Rev C vii Table of Contents e Bit Operation Instructions ooo ooocooccoonccocnncoccocr oc 5 120 Number Conversion Instructions Accumulator eese 5 127 Shuffle Digits Block Diagram llseeeeee RIA 5 139 Table Instructions oce rpg hor etch RR Re e le e a cag 5 141 Copy Data From a Data Label Area to V memory 00 00sec eee 5 143 Clock Calendar Instructions eee heh 5 171 CPU Control Instructions llle I nh 5 173 Program Control Instructions llle 5 175 Interrupt Instructions sees RR y ee eb ee de eee Ue Ee 5 183 Message Instructions ssas 0 0 0 ccc eh n 5 186 Move Block Instruction MOVBLK 000 eee eee III 5 189 Copy Data From a Data Label Area to V memory 00 0c eee oo 5 189 Intelligent I O Instructions 0 cece cee
15. e 2 18 Relay Output Wiring Methods 0 cee eee III 2 20 Relay Outputs Transient Suppression For Inductive Loads in a Control System 2 21 Prolonging Relay Contact Life 2 2 ee eee 2 26 DC Input Wiring Methods 0 eee eee eee nee 2 27 DC Output Wiring Methods 0 0c eee II 2 28 High Speed I O Wiring Methods 0 0 cee eee eee eee 2 29 Wiring Diagrams and Specifications lee 2 30 DO 06AA I O Wiring Diagram eee eee 2 30 D0 06AR I O Wiring Diagram 2 eee eee 2 32 DO 06DA I O Wiring Diagram 2 ee eee 2 34 DO 06DD1 I O Wiring Diagram 0 ee eee 2 36 D0 06DD2 I O Wiring Diagram 2 0 ee eee 2 38 D0 06DR I O Wiring Diagram 0 eee eee 2 40 D0 06DD1 D I O Wiring Diagram 0 0 eee eee 2 42 D0 06DD2 D I O Wiring Diagram 00 ee ee eee 2 44 DLO06 Micro PLC User Manual 3rd Edition Rev C Table of Contents i D0 06DR D I O Wiring Diagram 2 0 eee eee 2 46 Glossary of Specification Terms 0 0 cece ee eee eee tenes 2 48 Chapter 3 CPU Specifications and Operation OVEIVIEW asias aa ata a ia aaa uns ene eas 3 2 DLOG CPU Features dad e e A aR SS ROSE e 3 2 CPU Specifications ecards 3 3 CPU Hardware Setup c m rh rh rr ree ele d 3 4 Communication Port Pinout Diagrams 0 0 ce eh 3 4 Connecting the Programming Devices 0 0 e eee ee ee ene 3 5 CPU Setup Info
16. e Tables oooooooooooooooosa eee ees C 2 Instruction Execution Times 0 cee eee ec cece cee eh hh rh C 3 Boolean Instructions ce hls C 3 Comparative Boolean Instructions sse seee 0 eee a C 4 Immediate Instructions o ooooooooor ooo C 11 Bit of Word Boolean Instructions 0 ccc eee eens C 12 Timer Counter and Shift Register llle C 13 Accumulator Data Instructions llle C 14 Logical Instructions lleeeee II I 4 C 15 Math Instructloris 5 us s ecce ec t n eon nia abs cedere Hb EA ETHER RS Hp es C 16 Differential Instructions lssseeeeeee e rs C 19 Bit Iristr ctlOliS tora oo HR RR RUE OS C 19 Number Conversion Instructions 0 ccc es C 20 Table Instructions o o oooooooooo has C 20 CPU Control Instructions 0 0 rs C 22 Program Control Instructions essers sessa eee Ie C 22 Int rrupt Instructions 5 AS wowed i MS ER Ie Po Webra oye A AA C 22 Network Instructions 2 0 0 0 ee ls C 22 Intelligent I O Instructions l lllleeeee RII C 23 Message INStrUCIONS EE C 23 RELPLUS Instructions cc dada das sees ei 9k C93 bs P ERR ES C 23 Drum Instr ctlOns uus E RU RR ee oe ee eet sa erie eae Y E TR RA UR OHS C 23 Clock Calendar Instructions cele C 24 MODBUS Instructions sre seerne nin ic iaa d werde we HE C 24 DLO06 Micro PLC User Manual 3rd Edition Rev C xvii Table of Contents ASCII Instr ctlOnS e
17. eae 6 2 A O edid 6 2 Drum Terminology uxsm m ado e a 6 2 Drum Chart Representation ssie eroga segada peenaa iaa e 6 3 Output SEQUENCES icici ee EWE EE ERR UE DER GE Se 6 3 Step Transitions 4 obe ek eee ORE COR Ue OS EEN EN Se eee E CAO 6 4 Drum Instruction Types sss a e or eee ees Haas 6 4 TimeOnly Transitions icu a RR aaa a aa 6 4 Timer and Event Transitions 6 0 0 0 ccc eee eee eens 6 5 Event Only Transitions sci ehe ia ie NOR E elas Ro ae OREN 6 6 Counter Assignments sss eph t Iar A de cs 6 6 Last Step Completion ss cd a de bees ee Ep uc e err era n eo e 6 7 Overview of Drum Operation 0 ccc ce n 6 8 Drum Instruction Block Diagram 1 aee eaaa a eE E eee ee 6 8 Powerup State of Drum Registers sioe 0 0 cece ce ee 6 9 Drum Control Techniques 0 0 ccc cece Hh 6 10 Drum Control Inp ts x sa eR RR a a on 6 10 Self Resettinig DUM seses sese addo Duae EE CE RR EORR ORA Ae ADR a 6 11 Initializing Drum Outputs llis n 6 11 Using Complex Event Step Transitions lllleel ooo 6 11 Drum Instruction nro SE EH USA HOHE ACH IE IDEE Oe 6 12 Timed Drum with Discrete Outputs DRUM sees 6 12 Event Drum EDRUM zs aureas RR eee ERREUR EUER EE RE REX EE EE 6 14 Handheld Programmer Drum Mnemonics sees 6 16 DLO06 Micro PLC User Manual 3rd Edition Rev C ix Table of Contents Bun M M ru ru A AAA I Masked Event Drum with Disc
18. ee ER Rs 9 13 Run Time Edits 2 99 v ee E RR es ES eee E eke NA EA ERROR RR 9 14 Run Time Edit Example 4505 2405 s RR ri EUR Rus 9 15 Forcing I O Points s vus e RR ERES EREYEETSEEGG aa 9 16 Regular Forcing with Direct Access 0 1 cece eee ee 9 18 Bit Override Forcing uus vas oe ERU RE ir ia a bob Rog 9 19 Bit Override Indicators 2 2 ee ene a eens 9 19 Chapter 10 LCD Display Panel Introduction to the DLO6 LCD Display Panel sees 10 2 Keypad mia a o Coi eee da SS ary OE weld a ed 10 2 Snap in installation NEA A aR oe ee eee e 10 3 Display Priority cis eer eee A a ih ph hh eh rare 10 4 xiv DLO06 Micro PLC User Manual 3rd Edition Rev C Table of Contents Menu Navigation sses c 6666 eee e xe eS AAA SON SE ehh ce eee ee ees 10 5 Confirm PLC Type Firmware Revision Level Memory Usage Etc 10 6 Examining Option Slot Contents 0 0 0 ccc cee eee eee ees 10 8 Menu 2 MZ SYSTEM CFG vestene rao RERO RUE nox eae aaa ese d 10 8 Monitoring and Changing Data Values 0 0 cece eee eee eee 10 10 Menu 3M3 MONITOR 5 23 n tt wisn k thon doc emt eg dl Sad ae ed RE eT 10 10 Data MONO sici n rr aden hehe RR Denn bee ee ia 10 10 Vermemiory Valles 2 5 52 10d ra rt wk Ro aie ea Reda mae sas 10 10 Pointer Values oia ta ioe a a en bee Re RR RR RU a EES ae 10 12 Bit MONITOR 352025 ca oe cae e yn dh ha Ee VR Shee ad e 10 13 Bit StAtUS oi ra PES e He ee Ce eke ee dada dad seeds 10 13
19. eee eee III 8 62 Ramp Soak Programming Errors 2 0 0 eee eee eee nee 8 62 Testing Your Ramp Soak Profile 0 0 eee eee ee eee 8 62 DirectSOFT Ramp Soak Example 0 0 ccc cece eee eee eee eens 8 63 Setup the Profile in PID Setup 2 0 22 eee eee nee 8 63 Program the Ramp Soak Control in Relay Ladder 40 8 63 Test the Profile ci iszakuiietteskiktkestiexee ra wed eee ed RR ed dre dea 8 64 Cascade Control isin usse uoa kk ERROR Shee ea daw REOR ea aisle eile 8 65 Introduction 22 duri s RR RR RR eee eke Gree RR ad ded Ee RR Rd 8 65 Cascaded Loops in the DLO6 CPU spises snapas ee e aaa eee 8 66 Tuning Cascaded Loops 5c a bake ERES ERR Rua RE E A 8 67 Time Proportioning Control 0 0 0 ccc ee ee eee eee eee 8 68 On Off Control Program Example 0 0 eee ee eee ee 8 69 Feedforward Control 2 666 66 6 hee ere eee a ee ees 8 70 Feedforward Example amp 4s RR Re ee eee E XX Y X ceded ey eee 8 71 PID Example Program y mmy x ewes bee ee ee eee iasi 8 72 Program Setup for the PID Loop 2 0 ee eee III 8 72 Troubleshooting TIPS 05 in inre ea s eos ns IR Re Ln o aaa lacada 8 75 Glossary of PID Loop Terminology eeeee IR 8 77 Bibliography 054 00 0 ve he Piste 2h a e E GR hee erg ac eee 8 79 Chapter 9 Maintenance and Troubleshooting Hardware System Maintenance 0 0 cece eee eee hn 9 2 Standard Maintenance 224622 ia a n a 9 2 Diagnostics
20. eee eee eee eee E 65 Symptom The stepper motor does not rotate lille E 65 Symptom The motor turns in the wrong direction oooooooooo o E 66 Mode 40 High Speed Interrupts 0 ccc cece ee eee eens E 67 PUD OSC jie PER E 67 Functional Block Diagram 0 0 0 cee ee eee eens E 67 Setup for Mode 40 css inte da dede E 68 Interrupts and the Ladder Program 6 0 0 cece eee eee E 68 External Interrupt Timing Parameters 0 0 00 cece eee eee E 69 Timed Interrupt Parameters 0 0 ccc cee e E 69 X Input Timed INT Configuration 0 0 0 2 eee eee E 69 Program Example 1 External Interrupt 1 6 6 cee cee eee E 70 Program Example 2 Timed Interrupt 0 0 0 eee eee E 71 Mode 50 Pulse Catch Input 0 ccc ce cee n E 72 PUD OSC durar a cae Re E RUE RUE E e ele ede E 72 Functional Block Diagram 0 0 cece III E 72 xx DLO06 Micro PLC User Manual 3rd Edition Rev C Table of Contents i Pulse Catch Timing Parameters ec 0 0 0 0 0 ee eee eee I E 72 Setup for Mode 50 uds tea eae ee ee RE TR cRA RUE COME DR Cd eR paa E 73 X Input Configuration ecisaina cias ih eth 3444535444 be PEE eee Meee E 74 Program Example 1 Pulse Catch E 75 Mode 60 Discrete Inputs with Filter ooooooooommm m m E 76 PUIPOSE sies ek Re a DES SR See ee ees SESE SESE EES E 76 Functional Block Diagram 0 0 0 eee eee eens E 76 Input Filter Timing Para
21. evee cca dodo aii C 24 Appendix D Special Relays DLO6 PLC Special Relays 0 0 ccc cee ce cece eee teens D 2 Startup and Real Time Relays 6 0 0 cc ccc eee eee eee D 2 CPU Status RelayS 204s sssteeegeeese ded rr D 2 System Monitoring s s se bese eee eee ee ease cee ee eee SEES THEE E ERES D 3 Accumulator Status ss ccs ve siete deve ri aa D 3 HSIO Input Status iis sso sss Gee bebe eee ees RR RR E EU SoHE ERE EES D 4 ASIO Pulse Output Relay ss coccion Or ep 54 bbe bee eee eS D 4 Communication Monitoring Relay oo ooocooccccoooroorcoomom oo D 4 Option Slot Communication Monitoring Relay ooooooocoooocoom oo D 4 Option Slot Special Relay 536 4 0 e ee bee Re e rhe EES D 4 Counter 1 Mode 10 Equal Relays 0 00 cece n D 5 Counter 2 Mode 10 Equal Relays costiere rr ccc cee eh D 6 Appendix E High speed Input and Pulse Output Features Introduction s cocco ien eee eee Re ky Ae E 2 Built in Motion Control Solution lseeeeee III E 2 Availability of HSIO Features llis I E 2 Dedicated High Speed I O Circuit 2 0 2 eA E 3 Wiring Diagrams for Each HSIO Mode 0 2 0 ee eee e E 3 Choosing the HSIO Operating Mode cece eee eee ee E 4 Understanding the Six Modes 0 0 cece cette eee ee E 4 Default Mode ss 060 e eR m eee eee eee eee eee La E E 5 Configuring the HSIO Mode 0 0 eee ee eee ene E 6 Configuring Inputs X0 X3 ss eee I E 6 Mode
22. iaa das it cL E 9 2 Diagnostic Saeta fee Ba a P 9 2 Table of Contents AAA eee Fatal Errors 2d 64 Cr Ree had pes mE baad eee hehe ebeds 9 2 Non fatal Errors 4242444 60 yere a s aa aa da 9 2 V memory Error Code Locations 0 0 0 a eee eee 9 3 Special Relays SP Corresponding to Error Codes llle 9 3 DLO6 Micro PLC Error Codes 0 cece hh 9 4 Program Error Codes xvid iii ae kets bea du ed E 9 5 CPU Indicators c rr tottus ries a ed 9 6 PWR Indicator 44 4 32 442 20464 Gadde ao dates b s bole eg dae 9 6 RUN Indicator 4 44 eI b te eee dee ee ee ada arenes 9 7 CPU Indicator 33 4446 64406 ode oe S a TESTE ORE RE EES 9 7 Communications Problems 2 cece eee eee teen eee ee nnn 9 7 1 O Point Troubleshooting 0 cece eect Ih 9 8 Possible Causes iii e ald ROS RR RR RR acd dede a e eal 9 8 Some Quick Steps sieves es rsd ci ee caw ean eee ee ee ee NEES ERR aac 9 8 Handheld Programmer Keystrokes Used to Test an Output Point 9 9 Noise Troubleshooting 0 cece ee eee eee n 9 10 Electrical Noise Problems 0 cece eee eee eee teen eens 9 10 Reducing Electrical NOISE sse ke te eee be E Rd 9 10 Machine Startup and Program Troubleshooting ooo oooooo 9 11 Syntax Check ees ee e howe SE Mu Rua Y EX YES GR ee aa aoa HR REE SG 9 11 Special Instr ctlOris s vss xx a P RT ORG 9 12 Duplicate Reference Check sse Re de eee eee eb eases ne R
23. l 3rd Edition Rev C XV Table of Contents AAA eee Purpose of Auxiliary Functions o oooooococoncooooorcccor eens A 2 Accessing AUX Functions via DirectSOFT 2 0 eee ee eee eee A 3 Accessing AUX Functions via the Handheld Programmer lesus A 3 AUX 2 RLL Operations 0 0 0 ccc ce ee eee hn A 4 AUX 21 Check Program sci sch ic a da a de A 4 AUX 22 Change Reference ea dau E eee ata aha aiina ad A 4 AUX 23 Clear Ladder Range 0 eee ce eee E A 4 AUX 24 Clear Ladders cscs uae rios aio 4d ae ett ewe a alae Rd A 4 AUX 3 V memory Operations 20 0 ccc eee ee eee eee eee A 4 AUX 31 Clear V memory ooccoccco ee I eens A 4 AUX 4 I O Configuration 0 cece ee eee hh A 5 AUX 41 Show I O Configuration 0 0 cee ee eee eee A 5 AUX 5 CPU Configuration o ooooooccroccoroncooooonoo monos A 5 AUX 51 Modify Program Name 0 cece n A 5 AUX 53 Display Scan Time 22 dese wee ete eek eo ko 84S EOE REESE EE EE LES A 5 AUX 54 Initialize Scratchpad 1 eee eee A 5 AUX 55 Set Watchdog TIME is suse eed RR E a A 5 AUX 56 CPU Network Address 0 0 eee eee ee tne ene nee A 6 AUX 57 Set Retentive Ranges vs Geb Rr eS eee EHS OEE ET A 6 AUX 58 Test Operations sees eee ee Ree eH ee CERES SESE RETO E OS A 6 AUX 59 Bit Override i 2 ce seventh te baa de dd te ew SRS A 7 AUX 5B Counter Interface Configuration 0 2 eee ee een
24. llle 8 41 Alternative Manual Tuning Procedures by Others 0 00000 e eee eae 8 44 Tuning PID Controllers 2 2 ee eee teen eee 8 44 Auto Tuning Procedure 0 0 eee m 8 45 Use DirectSOFT 5 Data View with PID View 0 0 0 ooo 8 49 Open a New Data View Window see 8 49 Open PID VIEW 22 23 Vx ex ERR SR ii e ede eda s 8 50 Using the Special PID Features llseeeeee RII 8 53 How to Change Loop Modes 0 cece cece n 8 53 Operator Panel Control of PID Modes 4 313 sey itn mir Se ene 8 54 PLC Modes Effect on Loop Modes 0 0c ccc eee n 8 54 Loop Mode Override sese ER Re e eee lr cia be EE Ee Oe 8 54 PV Analog Filter u c kd e EE ETE eee edhe eek eR UR pedi 8 55 Creating an Analog Filter in Ladder Logic 0 0 eee eee eee 8 56 DLO0G Micro PLC User Manual 3rd Edition Rev C Table of Contents i Use the DirectSOFT Filter Intelligent Box Instructions o ooo oooooo 8 57 FilterB Examiple i tice adanke dew ddd il tete etate ep dO RR PUR 8 57 Ramp Soak Generator 00 ccc eee ee ee ee eee hn 8 58 Introduction 2s abrir n a dade qudd 8 58 Ramp Soak Table 4 ex sees hice gases So Ks abode bade bade EE ex 8 59 Ramp Soak Table Flags 0 0 eee cece ene eens 8 61 Ramp Soak Generator Enable 0 0 eee eee ee eens 8 61 Ramp Soak Controls sesiis ana an aa ee ee ene ene 8 61 Ramp Soak Profile Monitoring 0
25. meters ieia isean e a cece eee E 76 Setup for Mode 60 2 ccc aida dadedades pr PE e E 77 X Input Config ration viii ate es a ae E 77 Program Example Filtered Inputs oo oooooococococonornooooo momo E 78 Appendix F PLC Memory DLOG PELC Memory ninia id a F 2 Non volatile V memory in the DLO6 2 1 2 ce eee F 3 Appendix G ASCII Table ASCII Conversion Table ee ec RR RR RR Rees G 2 Appendix H Product Weights Product Weight Table ooo m rg aaa H 2 Appendix I Numbering Systems INTFOCUCLION DEPT 1 2 Binary Numbering System 0 cee ccc eee eee eee eee eee eee eee 1 2 Hexadecimal Numbering System 0 cece eee eee eee 1 3 Octal Numbering System 0 0 0 cece hh eee 1 4 Binary Coded Decimal BCD Numbering System oooooomoo mo I 5 Real Floating Point Numbering System 0 ce eee eee ne I 5 BCD Binary Decimal Hex Octal What is the Difference 1 6 Data Type Mismatch isses 005005656 se SG ha ha eee eee eee 1 7 Signed vs Unsigned Integers oo oooocoooocoocnoonoonaoccoomoo o 1 8 AutomationDirect com Products and Data Types 0 00 cece eee eee 1 9 DL06 Micro PLC User Manual 3rd Edition Rev C xxi Table of Contents AAA eee DirecttOGIC PEGS oo ri ad ER 1 9 C more C more Micro Graphic Panels 0 0 ee eee eee ene 1 9 Appendix J European Union Directives CE European Union EU Directives
26. nfiguration seen 4 11 Network Slave Operation leeeeeeee hn 4 12 MODBUS Function Codes Supported 0 0 e eee eee eee 4 12 Determining the MODBUS Address 0 e a a e eee eee 4 12 If Your Host Software Requires the Data Type and Address 4 13 DL06 Micro PLC User Manual 3rd Edition Rev C v Table of Contents AAA oe Example 1 VZTOO 4 6422342 ete co bea 4 14 Example 2 20 isses diri it ES YO nbs ES 4 14 Example 3 T10 Current Val e coccion re m ER da RR TREE ERES 4 14 Example 4 CS4 iis shed 6G bbe hath atk as OR a d Eu ER brea eo 4 14 If Your MODBUS Host Software Requires an Address ONLY 000 4 15 Example 1 V2100 584 984 Mode 0 0 eee e ee eee ene 4 17 Example 2 Y20 584 984 Mode 0 eee eee eee eee 4 17 Example 3 T10 Current Value 484 Mode 0 cece cee eee 4 17 Example 4 C54 584 984 Mode 0 eee cee eee nee 4 17 Network Master Operation 0 ccc ccc n 4 18 Step 1 Identify Master Port and Slave oo ooo oooooomoomoom oo 4 19 Step 2 Load Number of Bytes to Transfer 4 19 Step 3 Specify Master Memory Area lisse en 4 20 Step 4 Specify Slave Memory Area 6 oe ce ee eee ees 4 20 Communications from a Ladder Program 0 eee ee eee eee 4 21 Multiple Read and Write Interlocks 0 6 0 cece cece eee eee 4 21 Network Master Operation using MRX and MWX Instructions
27. nt Panel o o ooooooccoconocnonaonooono o 2 5 Terminal Block Removal lt ccsssssosssvrirsaria esde I is 2 6 Table of Contents es e Mounting Guidelines 0 ccc cece ete et hh hh 2 7 Unit DIMENSIONS i 6 REGS A ewes snes ee oS P eo 2 7 Enclosures sizes Sed ea exe qu did Soe we a wo ee pected ares Se a 2 7 Panel Layout Clearances i ye se sb sue deve a ee eee ea 2 8 Using Mounting Ralls sses sss 2 eee eee 2 9 Environmental Specifications c c en 2 10 Agency Approvals essa ii ER Y eee eee sR Eee Hee ee 2 10 Marine USE tio D 2 10 Wiring Guidelines 2 s R9 9r RR ERREUR RR aa 2 11 External Power Source 0 2 cece e ene eens 2 12 Planning the Wiring Routes 20 0 eee III I 2 12 Fuse Protection for Input and Output Circuits llle 2 13 1 O Point Numbering 0 0 eee III t 2 13 System Wiring Strategies o oo o ooooococorooocnarrnccanro nn 2 14 PLC Isolation Boundaries 1 0 cee eee eee ene nee 2 14 Connecting Operator Interface Devices 2 2 eee eee eee 2 15 Connecting Programming Devices 0 0 ce eee eee 2 15 Sinking Sourcing Concepts 6 0 cee eee eee eee eee ee 2 16 I O Common Terminal Concepts 0 0 e eee ee eee eee 2 17 Connecting DC I O to Solid State Field Devices oo ooooooomoo o 2 18 Solid State Input Sensors 1 2 ee eee eee 2 18 Solid State Output Loads 1 eee ee
28. pecialty I O 6 eee o 3 16 DAQMOSUICS lis PTT 3 17 DL06 Micro PLC User Manual 3rd Edition Rev C iii Table of Contents AAA eee I O Response Timie pre iss ces eben RR de we ace kes ese ee 3 17 Is Timing Important for Your Application eee 3 17 Normal Minimum I O Response tirso eee eee eee eee nee 3 18 Normal Maximum I O Response 0 0 cee cece eee eee eee 3 18 Improving Response Time 6 6 eee eee eee 3 19 CPU Scan Time Considerations lese 3 20 Reading Inputs 3334024662 eerte Ue S EUER da PEPPER 3 20 Writing Outputs eezezex eer eene e eee ee EEG APPETERE 3 20 Service Peripherals isse zececeseeter o ER ERE PRECES 3 21 CPU Bus Communications din acia grise ate ee n n etre SR Aa bade eae we es 3 21 Update Clock Calendar Special Relays Special Registers oo o oo 3 21 Application Program Execution g cecce nienn nenen issir n 3 22 PLE Numbering Systems xus tetti nep iska EROR te Rd UR RR E a eg 3 23 dies CX P 3 23 PENNA cC PUMP EE 3 24 Binary Coded Decimal Numbers lt is icici oii e eee eee e 3 24 Hexadecimal Numbers 0 2 0 0 eee eee eee nee eee nee 3 24 Memory Map sits ia tics din ia Goan Bhsicsiasicn gins 3 25 Octal Numbering System 0 0 0 0 ccc cece ee eee ees 3 25 Discrete and Word Locations 0 cee eee e 3 25 V memory Locations for Discrete Memory Areas 0 000 e eee eee 3 25 Input Points X Data TYPE s e
29. rete Outputs MDRMD 200 6 19 Masked Event Drum with Word Output MDRMW lesee eee 6 21 Chapter 7 RLLPLUS Stage Programming Introduction to Stage Programming enn 7 2 Overcoming Stage Fright sleeeeee ee nee ene 7 2 Learning to Draw State Transition Diagrams 0 0 cee cee ee eee 7 3 Introduction to Process States 2 2 ce eee nee 7 3 The Need for State Diagrams 0 0 cece ee ee een eee 7 3 A 2 State PTOCESS sone iii TT 7 3 REL Equivalent erc ei eR AA A A 7 4 Stage Equivalent iere deed bide eee dee ede dete nee ee en Ree eee REESE 7 4 Let s Compare ii aiii iiaii RR ERE Ea he eee ae TRUE wpa a 7 5 Initial Stages ieu he EE ERR AA we a ee ER RR RUE ss 7 5 What Stage Bits DO ics sata Aa S Ra AUR NDA CRUS ieee a ci ua gu a 7 6 Stage Instruction Characteristics scele 7 6 Using the Stage Jump Instruction for State Transitions o 7 7 Stage Jump Set and Reset Instructions 0 0 eee eee ee nee 7 7 Stage Program Example Toggle On Off Lamp Controller 7 8 A 4 State Process iii rca a a Ses 7 8 Four Steps to Writing a Stage Program ooooccocoooonocnroncnoo 7 9 1 Write a Word Description of the application oo ooooocoomomm o 7 9 2 Draw the Block Diagram 2 meme eme RR EA REVUE 7 9 3 Draw the State Transition Diagram seess iesise dessa saa ta e 7 9 4 Write the Stage Program
30. rmation ssec XS EVERY Y vx CLE VE E ee eo 3 5 Status Indicators sd kae t a xx ve da ase qa sy s 3 6 Mode Switch Functions 24s sued RR yx RE ER uar acr a3 m ha ak 3 6 Changing Modes in the DLO6 PLC 1 ee ee ene 3 7 Mode of Operation at Power Up iilis e 3 7 Using Battery Backup eer rhe hp ied Ode rrr er Rhe ere s 3 8 Battery BackUp iecur e RR RH ERE EY Wxx3 e ege eae eta a qs 3 8 Auxillary FUNCUONS ies 222 dere m dre e 9 yeux bebe eme da Re a Ra ds Rr d 3 9 Clearing an Existing Program sss escis wx eres ra Ra RR Rr Ra 3 9 Initializing System Memory sre RR RR RR ERR EE E R3 a a rrr 3 9 Setting Retentive Memory Ranges lseeeeee en 3 10 Using a Password iue eee oh es Re wx Rey es xu x de Ea ea es sas 3 11 CPU Operation 00 000 ua ek ek aaa Uc 3 12 CPU Operating System gece ew er es esee RE a 3 12 Program Mode 2 06 ccc cece ce Ree e eee eee A Rh Rh eee ed ER ds 3 13 RUN Mode 2 ccs see dade des eR EE td E REFER ERE Sur EE a KEEK E A RS Rn a 3 13 Read Ihnp ts ss csc ese eee se RUE Ee wa REOR a E E RR wee eed E 3 14 Service Peripherals and Force I O 1 0 eee eee e 3 14 CPU Bus Communication 0 0 eens 3 15 Update Clock Special Relays and Special Registers ooooooooooooo 3 15 Solve Application Program 0 0 cece ee eee eee eee 3 16 Solve PID Loop Equations 0 cece eee eee 3 16 Write Out pUtS esson a esu ae RE RE oe wie d E We ies REOR eed dosis 3 16 Write Outputs to S
31. ssais esten metn pt Dn in RR RC Ee dodo oad Redes 3 26 Output Points Y Data Type l i RR III 3 26 Control Relays C Data Type 0 0 ccc cee eee eas 3 26 Timers and Timer Status Bits T Data Type 0 20 eee eee ee 3 26 Timer Current Values V Data Type 0 2 0 ee eee IA 3 27 Counters and Counter Status Bits CT Data type 0 0004 3 27 Counter Current Values V Data Type 0 eee eee eee A 3 27 Word Memory V Data Type 0 eee eee ee teenies 3 28 Stages S Data type sis ov se Rte a n Dc D oo d Ee EROR E a RS 3 28 Special Relays SP Data Type o ooooocooocooccor eee eee 3 28 DLO6 System V memory eeeeeeee hh eee eee 3 29 System Parameters and Default Data Locations V Data Type 3 29 DEOG Aliases siii ad wee we ce Tn Dn ctn Te ce WA ee p e n 3 31 DL06 Memory Map ess h oh RR RC ee ee hn Rh en A RR ERE n 3 32 X Input Y Output Bit Map oooooooccocncrnncoronoonooonmoo o 3 33 iv l DL06 Micro PLC User Manual 3rd Edition Rev C Table of Contents ooo snes Stage Control Status Bit Map 0 cece ce eee eee eee ene 3 34 Control Relay Bit Map ort e ed p Vases ee dee ee eee n 3 36 Tamer Status BIEIMAD cease bane ee na Quies rou bar Dara uae Patera stets 3 38 Counter Status Bit Map lsssseeeeeee hh nnn 3 38 GX and GY I O Bit Map eek RR RR beg dee eae a rea ee woe 3 39 Chapter 4 System Design
32. tional to Step Change in SP 0 eee eee eee 8 12 Eliminating Proportional Integral or Derivative Action o oo o oo 8 12 Velocity Form of the PID Equation 0 0 eee eee eee 8 12 Burmipless Transfer eek ek in OES E wee GS RE Tu 9 bee et ed 8 13 Loop Alarms i4 446 did eo Ve a ee 8 13 Loop Operating Modes iccecces e me e es 8540554 HR E RE E 8 14 Special Loop Calculations lisse n 8 14 Ten Steps to Successful Process Control o o oooooooooommo eee eens 8 16 PID Loop Setup Juss o ett pratt oh Sct At etc 8 18 Some Things to Do and Know Before Starting 0 0 2 ee eee 8 18 PID Error Flags cave weed Soe bea aware m e nes sa eie RERO d Rd d mA aka 8 18 Establishing the Loop Table Size and Location 0 000000 0b eee 8 18 Loop Table Word Definitions llle 8 20 PID Mode Setting 1 Bit Descriptions Addr 00 oooooocooooooooo o 8 21 PID Mode Setting 2 Bit Descriptions Addr 01 oo oooococooooooooo o 8 22 Mode Alarm Monitoring Word Addr 06 2 cece eee eee eee 8 23 Ramp Soak Table Flags Addr 33 2 eee eee eee eee 8 23 Ramp Soak Table Location Addr 34 0 cece ee eee 8 24 Ramp Soak Table Programming Error Flags Addr 35 oo ooo ooo 8 24 Configure the PID LOOP siii a EROR EORR RARE A 8 25 PID Loop TURING soriana dd 8 40 OpencLoop Test vu ra D E Rc c ege Res 8 40 Manual Tuning Procedure
33. tocols 00 cece eee e eens K 3 DLOG Port Specifications eese rh eee ORME RATE Tee a eae A K 5 DLOG Port PInIGuls iaa ank ei E a AAA a K 5 Port Setup Using DirectSOFT 5 or Ladder Logic Instructions K 6 Port 2 Setup for RLL Using K Sequence DirectNET or MODBUS RTU K 7 K Sequence Communications csse e K 10 i DLO06 Micro PLC User Manual 3rd Edition Rev C Table of Contents DirectNET Communications selle e K 10 Step 1 Identify Master Port and Slave 0 eee ee eee K 10 Step 2 Load Number of Bytes to Transfer ooo ooocoooooooooooooo K 10 Step 3 Specify Master Memory Area 0 0 eee eee e K 11 Step 4 Specify Slave Memory Area 1 0 eee cee eee K 12 Communications from a Ladder Program 0 cee eee ee ene K 13 Multiple Read and Write Interlocks 0 eee eee K 13 MODBUS RTU Communications oseese aeoeaiei n K 14 ASCII Communications 2 0 0 cee n K 14 Index DL06 Micro PLC User Manual 3rd Edition Rev C xxiii
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