Plc programming course1

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  • 1. Super-small Programmable Logic Controllerwith Built-in DisplayVisual KV SeriesAdvancedProgramming Course
  • 2. Contents VOL.1 Counting total number of products ...................................................................... 4 Example: Totaling the number of products on multiple production lines VOL.2 Shift register ........................................................................................................... 6 Example: Ejecting rejects VOL.3 BCD data output (to BCD display) ........................................................................ 8 Example: Indicating the number of products VOL.4 Setting of multi-level output with high-speed counter ..................................... 10 Example: Cutting a sheet of cloth to specified length VOL.5 BCD data input (4 digits) ..................................................................................... 12 Example: Inputting BCD data with a digital switch VOL.6 BCD data input (2 digits) ..................................................................................... 14 Example: Inputting BCD data from the digital switch VOL.7 Measurement of high-speed pulse period ......................................................... 16 Example: Checking rotation pulse period of engine VOL.8 Phase differential input ........................................................................................ 18 Example: Input from rotary encoder VOL.9 Position control using a stepping motor ........................................................... 20 Example: Stop/counterclockwise rotation of a stepping motor at a specified number of pulses VOL.10 The specified frequency pulse output function ................................................. 22 Example: Speed control of a pulse motor with the specified frequency pulse output function VOL.11 Word shifting ......................................................................................................... 24 Example: Storing the stop duration of equipment in memory as history VOL.12 Fine adjustment with a digital trimmer ............................................................... 26 Example: Fine adjustment of the air discharge time of a parts feeder VOL.13 Receiving multiple pulses and outputting them as a batch ............................. 28 Example: Displaying total number of products travelling on multiple lines on a counter VOL.14 Converting high speed pulses into low speed pulses ...................................... 30 Example: Converting pulse frequency VOL.15 Bit counting (Bit checking) .................................................................................. 32 Example: Checking how many error detection signals are input to input relays of channel2
  • 3. VOL.16 Shift register simulation in an asynchronous production line ......................... 34 Example: Ejecting rejects without a constant synchronous signalVOL.17 Emergency stop circuit ........................................................................................ 36 Example: Emergency stop for cutting workVOL.18 Selection of operation mode ............................................................................... 38 Example: Selecting fully-automatic or individual operation modeVOL.19 Step-progress operation (sequential control) ................................................... 40 Example: Step progress of material handling machineVOL.20 Frequency counter function ................................................................................ 42 Example: Counting the number of rotations using the frequency counterVOL.21 Sorting ................................................................................................................... 44 Example: Sorting machines in the ascending order of productionVOL.22 High-speed interrupt input function ................................................................... 46 Example: Measurement of passing time between two points using high-speed interrupt inputVOL.23 Synchronous control function ............................................................................ 48 Example: Synchronous control of a pulse motorVOL.24 High-speed counter .............................................................................................. 50 Example: Multi-step comparator operation with high-speed counter 3
  • 4. VOL. 1 Counting total number of products Example Totaling the number of products on multiple production linesOutlineThe number of products travelling on each of 5 lines is 0000counted simultaneously. When the total number of products 0001on the 5 lines reaches 100 the KV outputs.An FS Series fiberoptic sensor counts the number of 0002products on each line. When the total number equals thepreset value, the KV outputs. 0003 0004 Line 1 Products counted 0 1 2 3 4 5 6 7, 8 Line 2 Line 3 Input 0000: Counting products on line 1 Input 0001: Counting products on line 2 Input relay 0002: Counting products on line 3 Line 4 Input relay 0003: Counting products on line 4 Input relay 0004: Counting products on line 5 Input relay 0005: Resetting Line 5 Output relay 0500: Comparator output Visual KV Series FS Series Fiberoptic Sensors Programming TechniqueThe following 2 instructions can be used for counting. (1) Counter instruction (2) Increment Memory instructionThe programs created using instruction (1) and (2) are as follows: Using instruction (1) Using instruction (2) 0005 #09999 C001 DM0001 0000 DM0000 C001 LDA STA INC 0000 #09999 C002 DM0002 0001 DM0000 C002 LDA STA INC 0001 #09999 C003 DM0003 0002 DM0000 C003 LDA STA INC 0002 #09999 C004 DM0004 0003 DM0000 C004 LDA STA INC 0003 #09999 C005 DM0005 0004 DM0000 C005 LDA STA INC 0004 2002 DM0001 DM0002 DM0003 DM0004 DM0005 DM0000 0005 $0000 LDA ADD ADD ADD ADD STA DW DM0000For the same control as shown here, using instruction (2) simplifies programming.Time and labor for debugging is saved.To obtain comparator output, the CMP instruction can be used.4
  • 5. VOL. 1 Counting total number of productsProgramming Example 0000 DM00000001 INC When Input 0000 (line 1) turns ON, DM0000 is incremented by 1. 0001 DM00000002 INC When Input 0001 (line 2) turns ON, DM0000 is incremented by 1. 0002 DM00000003 INC When input relay 0002 (line 3) turns ON, DM0000 is incremented by 1. 0003 DM00000004 INC When input relay 0003 (line 4) turns ON, DM0000 is incremented by 1. 0004 DM00000005 INC When input relay 0004 (line 5) turns ON, DM0000 is incremented by 1. 0005 $00000006 DW When input relay 0005 (reset input) turns ON, DM0000 is DM0000 reset to 0. 2002 DM0000 #00100 2009 05000007 LDA CMP When DM0000 equals 100 or more, output relay 500 turns END ON.0008 When the reset input (0005) turns ON, output 0500 turns OFF. ENDH0009Set the input time constant to 10 µs using HSP instruction when the line speed is very high. Tips ORing Differentiation instructions • Compare the following 2 programs. (1) 0000 DM0000 (2) 0000 DM0000 INC INC 0001 DM0000 0001 INC 0002 DM0000 0002 INC 0003 DM0000 0003 INC 0004 DM0000 0004 INC In program (1), counting is performed for each input even when input relays 0000 to 0004 turn ON simultaneously. In program (2), simultaneous inputs are ignored when input relays 0000 to 0004 turn ON simultaneously. Referring to the above, program according to your purpose. 5
  • 6. VOL. 2 Shift register Example Ejecting rejectsOutlineAt position 1, the fiberoptic sensor checks whether the workpiece is acceptable or not. If the workpiece is rejected,it is ejected at position 5.When the detection position is different from the ejection position as shown in the figure, using the Shift instructionis convenient. Detecting rejects Sensor Input 0001 Compressed air ejection 0500 Position 1 Position 2 Position 3 Position 4 Position 5 Clock input Sensor Input 0002 Detection position Ejection position Cams Programming TechniqueThe SHIFT instruction allows the sensor reject input to turn ON each specified internal utility relay sequentially.Each utility relay turns ON synchronously when the reject reaches a specific stage on the conveyor. This reject willbe ejected from the conveyor when the eject output and final utility relay turn ON. 0002 (Clock input) 0000 (Detection of rejects) 1000 1001 1002 1003 1004 0500 1 sec (Ejection output) Position of reject Position 1 Position 2 Position 3 Position 4 Position 5Each time the clock input sensor is activated, a workpiece travels from position 1 to 5 sequentially. Acceptance orrejection values for the workpieces in position 1 to 5 are stored in internal relays 1000 to 1004, with a reject beingejected, using compressed air, in position 5.6
  • 7. VOL. 2 Shift registerProgramming Example 0001 1100 1100 10000001 DIFU SET Internal Input relay 1000 is turned ON by a signal from the fiberoptic sensor when it detects a reject. 2003 SFT0002 D Each time clock input relay 0002 turns ON, acceptance 1000 or rejection of workpieces in position 1 to 5 is stored in 0002 internal relays 1000 to 1004.0003 CLK 2003 10040004 RES 1004 0002 #000100005 T000 A one-shot ejection signal is sent. 0500 T000 05000006 Tips Using shift register There are 2 ways to input data into the shift register: 0002 (Clock input) (1) 0001 SFT D 0001 1000 (Detection of rejects) 0002 CLK 1000 2003 1004 RES 1001 1002 In circuit 1 shown above, reject detection signals cannot be transferred to the internal register if the reject detection output relay is not turned ON while the clock input pulse is ON (if they are not synchronized). Then, program as follows: 0002 (2) 0001 1100 1100 1000 DIFU SET 0001 2003 SFT D 1000 0002 1000 CLK 1001 2003 1004 RES 1002 In circuit 2 shown above, the reject detection signal is guaranteed to be sent to the internal register. ➮ For details, refer to the KV User’s Manual. 7
  • 8. VOL. 3 BCD data output (to BCD display) Example Indicating the number of productsOutlineThe number of products is counted by the internal counter of the KV, and the number is indicated on the BCDdisplay.Without using an externally-mounted counter, the internal counter of the KV can indicate the count result on theexternal BCD display. This enables centralized control of the system by the KV. Count input PZ2 Series Visual KV Series BCD displays Programming Technique1. TBCD instruction: In the KV, data is in binary format to convert binary data into BCD data.2. STA instruction: Use this instruction to transfer BCD data obtained by the TBCD instruction to external equip- ment.4-digit BCD display connection diagram and programming example are shown below.Type I: 4-digit individual input 4th digit 3rd digit 2nd digit 1st digit 1 2 4 8 1 2 4 8 1 2 4 8 1 2 4 8 4th-digit BCD data 3rd-digit BCD data 2nd-digit BCD data 1st-digit BCD data (512 to 515) (508 to 511) (504 to 507) (500 to 503)Connect the output of the KV to each input of the 4 digits of the BCD display.Programming Example (Using the KV-40) C000 #00100 0001 C000 Counter (count input: 0000, preset value: 100) 0000 2002 C000 0500 0002 LDA TBCD STA The value of the internal counter is converted into BCD data and is output to the display.Though 16 outputs from the KV are required, program length can be decreased.8
  • 9. VOL. 3 BCD data output (to BCD display)Type II: Digit designation input 4th digit 3rd digit 2nd digit 1st digit 1 2 4 8 4th digit 3rd digit 2nd digit 1st digit BCD data of each digit (0500 to 0503) Each-digit designation (0504 to 0507)Data of 1st to 4th digits is indicated sequentially in a high speed cycle.Programming Example (The ladder program may vary depending on the KV model to be used.) 2008 1000 The start relay of the Shift instruction is turned ON when operation0001 SET begins. C000 #001000002 C000 Counter (count input: 0000, preset value: 100) 0000 T001 #000500003 T S 001 50-ms clock pulses are output. (Display updating) 2003 SFT0004 D Internal relays 1000 to 1008 are turned ON sequentially. 1000 T001 (BCD display updating)0005 CLK 2003 10080006 RES 1008 10000007 SET Internal relays 1000 to 1008 are sequential and repeatedly turned ON/OFF. 1000 C000 DM0000 $000F 05000008 LDA TBCD STA ANDA STA Units digit data in the internal register is output through 0500. 1002 DM0000 #04 $000F 05000009 LDA SRA ANDA STA Tens digit in the internal register is output through 0500. 1004 DM0000 #08 $000F 05000010 LDA SRA ANDA STA Hundreds digit data in the internal register is output through 0500. 1006 DM0000 #12 $000F 05000011 LDA SRA ANDA STA Thousands digit data in the internal register is output through 0500. 1001 05040012 Digit designation of 1st digit (units digit) is output through 0504. 1003 05050013 Digit designation of 2nd digit (tens digit) is output through 0505. 1005 05060014 Digit designation of 3rd digit (hundreds digit) is output through 0506. 1007 05070015 Digit designation of 4th digit (thousands digit) is output through 0507.Though longer programming is required, only 8 outputs from the KV are required.The KV-D20 Operator Interface Panel is convenient for displaying several values. 7 6 5 4 3 2 1 0 9
  • 10. Setting of multi-level output with VOL. 4 high-speed counter Example Cutting a sheet of cloth to specified lengthOutlineBy using pulses fed from the encoder, the KV controls winding speed of a sheet of cloth to cut the cloth to thespecified length.High speed pulses from the encoder are entered to the high-speed counter of the KV. Output signals are issuedrespectively to decrease winding speed, to stop winding and for overrunning alarm, the preset values (the numberof pulses) are previously input into the data memory of the KV. Cutter Rotary encoderWinding process Cutting Decrease in Stop of Start of winding winding speed winding Overrunning Alarm Input the preset value for each point.s Programming TechniqueFor this control, 3 values (the number of pulses) must be preset respectively to decrease winding speed, stopwinding, and alarm overrunning. Preset the number of pulses of the high-speed counter to 3 levels using the CMPinstruction. 2002 CTH0 DM0000 2009 0500 LDA CMP Signal for decreasing winding speed DM0001 2009 0501 CMP Signal for stopping winding DM0002 2009 0502 CMP Alarm for overrunning➮ For details on the instructions, refer to the KV Users Manual.10
  • 11. VOL. 4 Setting of multi-level output with high-speed counterProgramming Example 2008 #01000 #01500 #02000 When the power is turned ON, preset the initial values for decelera-0001 DW DW DW tion point, stop point, and overrunning point respectively to 1000, DM0000 DM0001 DM0002 1500, and 2000. 2113 21140002 SET RES CTH0 is set to the double multiplication mode. 2002 HSP0003 0004 The input time constants of inputs 0004 and 0006 are changed to 10 µs. HSP0004 0006 0001 CTH0 The pulses from the encoder are received with high-speed counter0005 0004 CTH0 through inputs 0004 and 0006. 2002 CTH0 DM0000 2009 0500 When the number of pulses from the encoder exceeds the preset0006 LDA CMP value for the deceleration point in DM0000, output is sent through output relay 0500. DM0001 2009 05010007 CMP When the number of pulses from the encoder exceeds the preset value for stop point in DM0001, output is sent through output relay 0501. DM0002 2009 05020008 CMP When the number of pulses from the encoder exceeds the preset value for overrunning point in DM0002, output is sent through output relay 0502. Tips CMP instruction 1. To obtain comparator output using the CMP instruction, create an expanded ladder diagram program. This makes it easier to understand sequential processing flow. Conventional ladder diagram Expanded ladder diagram 2002 CTH0 2002 CTH0 DM0000 2009 0500 LDA LDA CMP DM0000 From CMP 2009 0500 encoder DM0001 2009 0501 CMP 2002 DM0000 CMP 2009 0501 DM0002 2009 0502 CMP 2002 DM0002 CMP 2009 0502 There are a large number of lines, There are few lines, making it easier to making it difficult to understand the flow. understand the flow. 2. When or is used as compar ison condition: When the value in the internal register is smaller than the operand value, internal relay 2009 2009 2009 turns ON. By applying this, program as , the desired condition (value in the internal register oper and value) can be set. * The same process can be used for comparison condition . 11
  • 12. VOL. 5 BCD data input (4 digits) Example Inputting BCD data with a digital switchOutlineThe preset value for the KVs counter is input using an external digital switch. – – – – 1 2 3 4 + + + + 4-digit BCD digital switch Visual KV Seriess Programming TechniqueTo input 4-digit BCD data, it is convenient to use the HKEY instruction.Advantage: To input 4-digit BCD data, 16 input terminals are normally required. With the HKEY instruction, however, only 4 inputs and 4 outputs are required. DC + 24 V DC COM 0000 0001 0002 0003 0004 0005 0006 0007 0008 0009 0010 0011 0012 0013 0014 0015 24V – Digital switch 100 101 102 103 DC + COM 0000 0001 0002 0003 24 V DC 24V – COM 0500 0501 0502 0503 Digital switch 100 101 102 103 Diode4-digit BCD data is stored in special utility relays 2900 to 2915.Example of utility relay status: When the BCD data is 1234: 2 9 1 5 2 9 1 4 2 9 1 3 2 9 1 2 2 9 1 1 2 9 1 0 2 9 0 9 2 9 0 8 2 9 0 7 2 9 0 6 2 9 0 5 2 9 0 4 2 9 0 3 2 9 0 2 2 9 0 1 2 9 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 103 102 101 100 “1” “2” “3” “4”12
  • 13. VOL. 5 BCD data input (4 digits)Programming ExampleTo set the preset value of counter C000 using a 4-digit digital switch: C000 #09999 C000 Input to counter C000 is received through input0001 0004 0004. 0005 HKEY0002 0000 When input 0005 is turned ON, the preset value of 0500 the digital switch is determined. 2815 2900 C0000003 LDA TBIN STA 4-digit BCD data from the digital switch is read from special utility relays 2900 to 2915, and converted into a binary number, which is used as the preset value of counter C000. Tips If the HKEY instruction is not used, the above programming example is written in ladder diagram notation as follows. You soon discover how simple programming can be using HKEY. 2002 HSP 0000 HSP The time constant is set to 10 µs using the HSP 0001 instruction, and data is received through inputs HSP 0002 0000 to 0003. HSP 0003 0005 1000 1000 1001 DIFU SET T001 #00020 T S 001 2003 SFT D 1001 Output relays 0500 to 0503 are turned ON T001 CLK sequentially and the equivalent data for each digit 2003 1009 is sent to the special utility relays. RES 1001 0500 1003 0501 1005 0502 1007 0503 Obtaining the preset value from the digital switch When 0500 is ON: Receiving 100 data to store in 0500 0000 $000F DM0001 LDA ANDA STA DM0000 0501 0000 $000F #04 DM0002 When 0501 is ON: Receiving 101 data to store in LDA ANDA SLA STA 0502 0000 $000F #08 DM0003 DM0001 LDA ANDA SLA STA When 0502 is ON: Receiving 102 data to store in 0503 0000 $000F ANDA #12 SLA DM0004 STA DM0002 LDA 1009 DM0001 DM0002 DM0003 DM0004 C000 When 0503 is ON: Receiving 103 data to store in ORA TBIN STA LDA ORA ORA DM0003 C000 #09999 C000 Combine each digit and convert the result into 0004 binary data. This data is used as the preset value of the counter. Using the HKEY instruction shortens programming to only 3 lines. 13
  • 14. VOL. 6 BCD data input (2 digits) Example Inputting BCD data from the digital switchOutlineThe product type No. is input to the KV using the external digital switch. At this time, the ANDA instruction ignoresinput data from the operation switch or sensor. – – 3 4 + + 2-digit BCD digital switch Visual KV Seriess Programming TechniqueTo input 2-digit BCD data, it is convenient to use the LDA instruction.When 2-digit BCD data is entered to inputs 0000 to 0007 of the KV-40 Series: + DC 24 V DC 24V COM 0000 0001 0002 0003 0004 0005 0006 0007 0008 0009 0010 0011 0012 – Digital switch Operation switch, sensor, etc. 100 101When the LDA instruction is used, the ON/OFF status of inputs 0000 to 0015 are received normally. When sensorsor operation switches are connected to inputs 0008 to 0015, therefore, their ON/OFF status is entered as BCDdata.Use the ANDA instruction to ignore the ON/OFF status of inputs 0008 to 0015. ON/OFF status of sensor or operation switch BCD data “3” BCD data “4” 0015 0014 0013 0012 0011 0010 0009 0008 0007 0006 0005 0004 0003 0002 0001 0000 Input 0 1 1 0 0 1 0 1 0 0 1 1 0 1 0 0 $OOFF 0015 0014 0013 0012 0011 0010 0009 0008 0007 0006 0005 0004 0003 0002 0001 0000 ANDA 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 0015 0014 0013 0012 0011 0010 0009 0008 0007 0006 0005 0004 0003 0002 0001 0000 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 BCD data “0” BCD data “0” BCD data “3” BCD data “4”As shown above, only 2-digit BCD data can be received, regardless of whether these sensors or operation switchesturn ON/OF.14
  • 15. VOL. 6 BCD data input (2 digits)Programming Example 2002 0000 $00FF DM0000 The ON/OFF status of inputs 0000 to 0015 is received,0001 LDA ANDA STA but only the data from inputs 0000 to 0007 is selected and entered into data memory DM0000. Tips 1. ANDA instruction In the above programming example, $00FF is specified as the operand for the ANDA instruction to ignore the ON/OFF status of inputs 0008 to 0015. Referring to the above programming, specify the operand as follows to receive 1-digit data or 3-digit data. 2002 0000 $000F DM0000 To receive 1-digit BCD data: LDA ANDA STA 2002 0000 $0FFF DM0000 LDA ANDA STA To receive 3-digit BCD data: 2. 2-digit BCD data Example: When inputs 0004 to 0007 cannot be used because the high-speed counter of the KV-40 is used, receive 2-digit BCD data through inputs 0000 to 0003 and 0008 to 0011. At this time, use the SLA instruction and ORA instruction conven- iently. 2002 0008 $000F #04 DM0001 LDA ANDA SLA STA Tens digit of BCD data is stored in DM0001. (*1) 0000 $000F DM0002 LDA ANDA STA Units digit of BCD data is stored in DM0002. DM0001 DM0002 DM0000 LDA ORA TBIN STA Tens and units digits are stored in DM0000. (*2) Used for high-speed counter. + 24 V DC COM 0000 0001 0002 0003 0004 0005 0008 0009 0010 0011 – – – Digital switch 3 4 + + 100 101 Set value = 34 In (*1) and (*2) shown above, contents in the internal register are changed as follows: 0015 0014 0013 0012 0011 0010 0009 0008 – – – – 0 0 1 1 Input 0015 0014 0013 0012 0011 0010 0009 0008 0007 0006 0005 0004 0003 0002 0001 0000 $000F 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 ANDA (*1) 0015 0014 0013 0012 0011 0010 0009 0008 0007 0006 0005 0004 0003 0002 0001 0000 Internal register 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 #04 SLA 0015 0014 0013 0012 0011 0010 0009 0008 0007 0006 0005 0004 0003 0002 0001 0000 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0015 0014 0013 0012 0011 0010 0009 0008 0007 0006 0005 0004 0003 0002 0001 0000 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 Tens digit of BCD data 0015 0014 0013 0012 0011 0010 0009 0008 0007 0006 0005 0004 0003 0002 0001 0000 (*2) 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 DM0002 ORA 0 0 1 5 0 0 1 4 0 0 1 3 0 0 1 2 0 0 1 1 0010 0 0 0 9 0 0 0 8 0 0 0 7 0 0 0 6 0 0 0 5 0 0 0 4 0 0 0 3 0 0 0 2 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 15
  • 16. Measurement of high-speed pulse VOL. 7 period Example Checking rotation pulse period of engineOutlineThe sensor detects the mark on the jig for the engine and emits a pulse each rotation. Using these pulses, thepulse period during engine rotation at high speed is measured. FS Series Visual KV Seriess Programming TechniqueStep 1: The rotation pulse period is obtained by counting the number of internal clock pulses emitted by the KV.To obtain the rotation pulse period, internal clock pulses (example: 100µs period) emitted during each rotation pulseperiod are counted using the high-speed counter. Pulse period Rotation pulse Internal clock pulse (100 µs) Internal clock pulse count Rotation pulse period = internal clock pulse period: 100 µs x clock pulse countStep 2: Use the INT instruction for programming the first step operation.Rotation pulses are received by the KV through input 0003, and the pulse period is measured using the Interruptinstruction. INT 0003When an interrupt is executed, the current value of the high-speed counter is automatically transferred to the datamemory (DM1934) at the rising edge of the pulse received at input 0003.When this function is used, the clock pulse count equals the difference between the value of the high-speed coun-ter obtained at the rising edge of the first rotation pulse and that of the second rotation pulse. Pulse period Rotation pulse Internal clock pulse (100 µs) DM1934(1) DM1934(2) Clock pulse count = DM1934 (2) - DM1934 (1)16
  • 17. VOL. 7 Measurement of high-speed pulse periodProgramming Example An interrupt is declared, and initialization is 2008 #00000 2200 DM0000 DM0001 DM0002 1000 2412 2413 performed. The interrupt polarity of input0001 EI LDA STA STA STA STA RES RES RES 0003 is set to the rising edge. 2002 HSP Input time constant for input 0003 is set to0002 0003 10 µs. 2002 CTH1 Internal clock pulses (100 µs) of the KV are0003 2202 input into high-speed counter CTH1, and 2002 DM0001 #00100 #10000 DM0002 counted.0004 LDA MUL DIV STA The rotation pulse period measured is entered into DM0002 in milliseconds. END0005 INT The rotation pulses are received using the0006 0003 INT instruction. 1000 DM1934 DM0000 DM00010007 LDA SUB STA The difference between the current value 2002 DM1934 DM0000 of CTH1 obtained at the rising edge of the0008 LDA STA first rotation pulse and that obtained at the rising edge of the second rotation pulse is 2002 10000009 SET entered into DM0001. RETI0010 ENDH0011Note: Since the countable range of CTH1 is 00000 to 65535 in the above program example, measurable rotation pulse period is between approx. 100 µs and approx. 6553 ms. Tips Higher accuracy for this measurement can be obtained by using special utility relay 2200 or 2201 which enables the use of the 1 µs or 10 µs internal clock pulse of the KV. The countable ranges are as follows. • 1 µs: Approx. 1 µs to approx. 65 ms • 10 µs: Approx. 10 µs to approx. 655 ms When the clock pulses exceeds 65535 (maximum countable value by CTH1), use CTH0. Then, up to 56 minutes (approx.) can be measured accurately. Example: 1. Count internal clock pulses (100 µs) at the rising edge of the rotation pulse using CTH0, and set the preset value to 50. 2. When the CHT0 count exceeds 50 (preset value), a direct clock pulse (period: 10 ms) is output through output relay 500. 3. The rotation pulse period can be obtained by counting the number of direct clock pulses emitted between the rising edge of the first rotation pulse and that of the second. Rotation pulse Pulse period Internal clock pulse (100 µs) 100 µs 50 50 50 Direct clock pulse 10 ms 17
  • 18. VOL. 8 Phase differential input Example Example: Input from rotary encoderOutline Phase A Phase B Rotary encoder Visual KV Seriess Programming TechniqueWhen using the phase differential input, set the high-speed counter to the double or quadruple multiplication mode. CTH0 Phase A: Input 0004 Phase B: Input 0006 CTH1 Phase A: Input 0005 Phase B: Input 0007Special utility relay setting for phase differential input CTH0 CTH1 2113 2114 2213 2214 Double mode ON OFF ON OFF Quadruple mode OFF ON OFF ON Phase differential input in double multiplication mode (2113: ON, 2114: OFF) 1 2 3 4 ON Phase A OFF ON Phase B OFF Counter value 0 1 2 3 4 5 6 7 8 7 6 5 4 3 2 1 0 Phase differential input in quadruple multiplication mode (2113: OFF, 2114: ON) 1 2 3 4 ON 1 2 3 4 Phase A OFF ON Phase B OFF Counter value 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 018
  • 19. VOL. 8 Phase differential inputProgramming Example (In double multiplication mode)Pulses up to 30-kHz frequency can be input. 2008 2113 21140001 SET RES High-speed counter CTH0 is set to the double mode. 2002 HSP0002 The input time constants of inputs 0004 and 0004 0006 are set to 10 µs. HSP0003 0006 2002 CTH00004 The pulses from the encoder are counted with 0004 high-speed counter CTH0. 0000 CTH00005 RES Turning ON input 0000 resets high-speed counter CTH0. Tips To use 24-bit high-speed counter The 24-bit high-speed counter can be used to count the pulses from the encoder by setting the special utility relays. It allows reliable counting of the pulses that cannot be counted with the 16-bit high-speed counter. Setting method Specify the 24-bit high-speed counter with the MEMSW instruction. To set high-speed counter CTH0 To set high-speed counter CTH1 MEMSW MEMSW $0800 $1000 The counter value is read at every scan and is stored in the following data memories. DM1900: Low-order bits of current CTH0 value DM1901: High-order bits of current CTH0 value DM1902: Low-order bits of current CTH1 value DM1903: High-order bits of current CTH1 value By using the KV-D20 operator interface panel, you can display the current value of the 24- bit high-speed counter in real time. 19
  • 20. VOL. 9 Position control using a stepping motor Example Stop/counterclockwise rotation of a stepping motor at a specified number of pulsesOutline ➮ For wiring, refer to “11.3 Examples of Using the Positioning Control Operating procedure Function” on page 652 in the Visual KV Series User’s Manual. Input 0000: ON © Clockwise rotation for 1000 pulses © Input 0001: ON © Clockwise rotation for 2000 pulses © Input 0002: ON Visual KV Series © Counterclockwise rotation for 3000 Stepping motor and motor driver pulses (Return to the starting position)s Programming TechniqueFor positioning control, set each parameter in the specified data memory in advance.Turning on the special utility relay starts the operation. The KV Series starts ramp up/down control automatically.Pulses are output from output 0502.The output frequency can be specified within the range of 200 Hz to 50 kHz. Number of output DM1485 and DM 1484 Frequency (Hz) pulses (pulses) Upper digit Lower digit Operating frequency DM1481 Startup frequency DM1480 Acceleration Deceleration time DM1482 time DM1482Parameter setting Data memory Setting contents Setting range DM1480 Ramp-up/down control startup frequency (Hz) 200 to 50,000 DM1481 Ramp-up/down control operating frequency (Hz) 200 to 50,000 (value larger than startup frequency) DM1482 Ramp-up/down control acceleration/deceleration time (ms) 0 to 4000 DM1484 Number of output pulses (lower 16 bits) 0 to 65,535 (2 or more when DM1485 is 0) DM1485 Number of output pulses (upper 16 bits) 0 to 65535Control relaysSpecial utility relay No. Description 2308 Performs deceleration at rising edge, then stops operation. 2309 Remains ON while pulses are output. Stops operation immediately when being reset in an interrupt program. 2310 Starts up operation at rising edge.➮ Refer to “12.3 Positioning Control” on page 690 in the Visual KV Series User’s Manual for details.20
  • 21. VOL. 9 Position control using a stepping motorProgramming Example 2008 2412 2413 The interrupt for emergency-stop opera-0001 RES RES EI tion is enabled. 2002 HSP The input time constant for input 00030002 0003 (emergency stop) is set to10 µs. 0000 0503 #00500 #05000 #00200 #01000 #00000 10000003 RES DW DW DW DW DW The parameters for clockwise rotation for DM1480 DM1481 DM1482 DM1484 DM1485 1000 pulses are set. 0001 0503 #00500 #05000 #00200 #02000 #00000 10010004 RES DW DW DW DW DW The parameters for clockwise rotation for DM1480 DM1481 DM1482 DM1484 DM1485 2000 pulses are set. 0002 0503 #00500 #05000 #00200 #03000 #00000 10020005 SET DW DW DW DW DW The parameters for counterclockwise DM1480 DM1481 DM1482 DM1484 DM1485 rotation for 3000 pulses are set. 1000 23100006 When each parameter is set, pulse output is started. 10010007 10020008 0004 23080009 The operation is slowed down and stopped. END0010 INT0011 0003 The interrupt program for emergency stop is executed. 2002 23090012 RES RETI0013 ENDH0014 Tips Slow-down stop and emergency stop Turn ON relay 2308 for the slow-down stop operation. 0004 2308 Reset relay 2309 in the interrupt program for the emergency-stop operation. INT 0003 2002 2309 RES RETI 21
  • 22. The specified frequency pulse output VOL. 10 function Example Speed control of a pulse motor with the specified frequency pulse output functionOutlineUse the specified frequency pulse output function to control the speed of a pulse motor.Turning on input 0000 starts the operation. The operation is slowed down and stopped when input 0001 turns on.The operation frequency is set in DM0000. Visual KV Series Pulse motor and motor driver 50kHZ 30kHZ 20kHZApplications: Tension adjustment of hoop material, Time 5kHZ adjustment for sheet material remaining in OHZ OHZ the processing baths Programming TechniqueThe Visual KV Series features the specified frequency pulse output function as standard. This function is convenientespecially for the applications above. When the specified frequency pulse output function is set, the pulses of thefrequency (Hz) specified in DM1936 is produced from output 0501. Turning ON special utility relay 2306 starts thepulse output. Turning OFF special utility relay 2306 stops the pulse output.Device used for specified frequency pulse output Special utility relays Relay No. Description Use specified frequency pulse output. ON: Yes, OFF: No Function 2306 is forced OFF when error relay 2307 turns ON. Error flag for specified frequency pulse output function. 2307 (When turned ON, the pulse output is turned OFF.) Data memory DM No. Description DM1936 Preset value for specified frequency pulse output is written. (16 to 50000 [Units: Hz])Pulse duty ratio: fixed to 50% ON OFF The ratio between ON and OFF time is 1:1.The frequency is increased/decreased by 100 Hz and updated every 20 ms in the program.The current speed is compared with the preset speed. If the current speed is less than preset speed, the currentspeed is increased. If the current speed is more than the preset speed, the current speed is decreased.22
  • 23. VOL. 10 The specified frequency pulse output functionProgramming ExampleThe operation starts when input 0000 turns ON. The operation is slowed down and stopped when input 0001turns ON. The output frequency is changed every time when input 0002 turns ON.When the output frequency (Hz) is specified in DM0000, the operation is controlled at the start-up speed of 16Hz and the acceleration of 100 Hz/20 ms. 0000 2306 1000 #00016 2306 1100 1200 The preset speed is set to “16” at the rising edge of input 1000 DIFU DW SET SET SET 0000. The specified frequency pulse output start relay is DM1936 turned ON. 0001 1001 1001 1101 DIFU SET The operation is slowed down and stopped at the rising 1204 edge of input 0001 or at the end of the operation pattern. When the slowdown-stop relay is turned ON, the preset1101 #00016 DM0000 DM1936 2010 2306 1100 1101 1206 LDA STA CMP RES RES RES speed is set to 16 Hz. When the output frequency reaches0002 1002 16 Hz, the operation is stopped. DIFU The output frequency is changed in the specified order at2003 SFT the rising edge of the output frequency change input. D 12001002 CLK2008 1204 RES12061200 1003 1003 #30000 DIFU DW The 1st frequency is set. (30 kHz) DM00001201 1004 1004 #50000 DIFU DW The 2nd frequency is set. (50 kHz) DM00001202 1005 1005 #05000 DIFU DW The 3rd frequency is set. (5 kHz) DM00001203 1006 1006 #20000 DIFU DW The 4th frequency is set. (20 kHz) DM00001100 T000 #00020 T S 000 The 20-ms flicker circuit is activated during the pulseT000 DM1936 DM0000 2009 00 output. LDA CMP CALL The current speed is compared with the preset speed every 2011 01 20 ms. The current speed is accelerated (SBN00) when the CALL preset speed is faster. The current speed is decelerated2307 0500 (SBN01) when the preset speed is slower. Output 0500 turns ON when a setting error occurs. END SBN 00 Acceleration process2002 DM0000 DM1936 #00100 2011 TM02 DM1936 TM02 DM1936 When the difference between the current speed and preset LDA SUB CMP STA LDA ADD STA speed is less than “100,” the speed is accelerated by the 2011 DM1936 #00100 DM1936 difference. When the difference is “100” or more, the speed LDA ADD STA is accelerated by “100.” RET SBN 01 Deceleration process2002 DM1936 DM0000 #00100 2011 TM02 DM1936 TM02 DM1936 When the difference between the current speed LDA SUB CMP STA LDA SUB STA and preset speed is less than “100,” the speed 2011 DM1936 #00100 DM1936 is decelerated by the difference. When the LDA SUB STA difference is “100” or more, the speed is RET decelerated by “100.” ENDH 23
  • 24. VOL. 11 Word shifting Example Storing the stop duration of equipment in memory as historyOutlineThe stop duration of equipment is measured using the internal timer of the KV, and is stored into data memoryDM0000. When the equipment stops again, the previous stop duration is transferred to DM0001 and the currentstop duration is written into DM0000. The last 5 stop durations are stored.Example:When stop 1 (1 min), stop 2 (2 min and 28 sec), and stop 3 (51 sec) are input sequentially, the contents of eachdata memory is changed, as follows, each time a new stop duration is input. Stop 1 (1 min) Stop 2 (2 min and 28 sec) Stop 3 (51 sec) DM0000: #00060 #00148 #00051 DM0001: #00060 #00148 DM0002 #00060 DM0004s Programming TechniqueUse the FOR-NEXT instructions and indirect addressing of data memory.Use the LDA instruction and STA instruction to shift words in the data memory. The content of each data memory istransferred as follows: (5) (4) (3) (2) (1) DM0000 DM0001 DM0002 DM0003 DM0004 Latest stop duration (1): Content of DM0003 is transferred to DM0004. (2): Content of DM0002 is transferred to DM0003. (3): Content of DM0001 is transferred to DM0002. (4): Content of DM0000 is transferred to DM0001. (5): Latest stop duration is transferred to DM0000.Indirect addressing of the data memory (format: #TMxx) can be performed using tempo-rary data memory (such as TM10 and TM11). Destination indirectly Destination indirectly Word shifting Value of TM10 Value of TM10 addressed by #TM10 addressed by #TM11 (1) #00003 DM0003 #00004 DM0004 (2) #00002 DM0002 #00003 DM0003 (3) #00001 DM0001 #00002 DM0002 (4) #00000 DM0000 #00001 DM0001When word shifting (1) is performed, for example, #00003 and #0004 are specified respectively for TM10 and TM11to transfer data from #TM10 to #TM11 using the LDA instruction and STA instruction.Word shifting of (1) to (4): Transfer from #TM10 to #TM11 is repeated using the FOR-NEXT instructions.➮ To use the FOR-NEXT instructions in combination with indirect addressing of data memory, refer to examples 1 and 2 of FOR-NEXT applications of the visual KV Series Users Manual, “Indirect addressing” on page 521.24
  • 25. VOL. 11 Word shiftingProgramming Example 0000 1001 10000001 SET DIFD 1001 #655350002 T000 ON duration of input 0000 is stored into temporary data memory TM05. 1000 T000 TM04 #65535 TM04 TM05 10010003 LDA STA LDA SUB STA RES 1000 00 At the rising edge of input to 0000, subroutine0004 CALL program is called. END0005 SBN Subroutine for executing word shifting0006 00 2002 #00003 TM02 #00004 TM03 To execute word shifting (1) first, DM0003 and0007 LDA STA LDA STA DM0004 are specified using TM02 and TM03. FOR Program between FOR and NEXT is repeated0008 #00004 4 times. 2002 #TM02 #TM03 TM02 TM03 Content of the data memory indirectly-0009 LDA STA DEC DEC addressed by TM02 is transferred to the data NEXT memory indirectly-addressed by TM03. Then,0010 the value of TM02 and that of TM03 are 2002 TM05 #TM03 decremented respectively by one, and data0011 LDA STA memory No. for the next word shifting is specified. RET0012 After execution of program between FOR and NEXT is terminated, the latest stop duration is transferred to the data memory (DM0000) indirectly-addressed by TM03.Tips If indirect addressing of data memory using temporary data memory is not used for the above programming, program for word shifting (for which LDA instruction and STA instruction are used) is shown below. 0000 1001 1000 SET DIFD 1001 #65535 T000 1000 T000 TM04 #65535 TM04 TM05 1001 LDA STA LDA SUB STA RES 1000 DM0003 DM0004 LDA STA Word shifting (1) is executed. DM0002 DM0003 LDA STA Word shifting (2) is executed. DM0001 DM0002 LDA STA Word shifting (3) is executed. DM0000 DM0001 LDA STA Word shifting (4) is executed. TM05 DM0000 LDA STA Word shifting (5) is executed. Just change this value! FOR #00004 If word shifting is executed 20 times using the LDA instruction When indirect addressing is used, what you have and STA instruction, program to do is just to change the value of operand for the becomes longer as frequency FOR instruction. The program does not become of execution increases. longer. 25
  • 26. VOL. 12 Fine adjustment with a digital trimmer Example Fine adjustment of the air discharge time of a parts feederOutlineIn a factory with several lines, defective products are discharged by air. The digital trimmer of the Visual KV Seriescan be used to adjust the air discharge time for each line according to the size and interval of products.The digital trimmer mode of the Access Window enables the adjustment of the air discharge without the handheldprogrammer or an external input device. Setting Digital trimmer Line 1 Defective product Visual KV Series Line 2 input: 0003 Defective product Line 3 Air discharge: 0500 input: 0004 Defective product input: 0005 Air discharge: 0501 Air discharge: 0502s Programming TechniqueUse the TMIN instruction to set the digital trimmer.Store the preset value of the Visual KV series’ digital trimmer in the internal register. The value is set in the KV’sinternal timer as the air discharge time for each line.Enter the preset value for each line by changing the preset input respectively. Internal register Input 0000: When turned ON, it updates the #00000 preset value of the timer for line 1. to #65535 Input 0001: When turned ON, it updates the preset value of the timer for line 2. Input 0002: When turned ON, it updates the preset value of the timer for line 3. Digital trimmer26
  • 27. VOL. 12 Fine adjustment with a digital trimmerProgramming Example 0000 0001 0002 10000001 Interlock circuit of input relays 0000 to 0002 0000 0001 0002 1001 When 0000 turns ON, compressed air release0002 time for line 1 is updated. When 0001 turns ON, compressed air release 0000 0001 0002 10020003 time for line 2 is updated. When 0002 turns ON, compressed air release 2002 0 1000 T000 time for line 3 is updated.0004 TMIN STA The preset values of the digital trimmer are changed to the preset values of timers T000 to 1001 T0010005 STA T002. T000: Compressed air release time for line 1 1002 T002 T001: Compressed air release time for line 20006 STA T002: Compressed air release time for line 3 0003 #000800007 T S 000 When input of detecting defective for line 1 (0003) turns ON, one-shot output is sent 0500 T000 0500 through 0500.0008 0004 #00150 T0009 S 001 When input of detecting defective for line 2 (0004) turns ON, one-shot output is sent 0501 T001 0501 through 0501.0010 0005 #002300011 T S 002 When input of detecting defective for line 3 (0005) turns ON, one-shot output is sent 0502 T002 0502 through 502.0012 Tips To set the range for the digital trimmer adjustment, specify the upper limit value in data memory. Digital trimmer 0 Upper limit value: DM1938 Digital trimmer 1 Upper limit value: DM1939 Set the upper limit value by specifying it in the device mode of the Access Window or by writing it in the program. Example: To set the range of 0 to 1000: 2008 #01000 DW DM1938 27
  • 28. Receiving multiple pulses and VOL. 13 outputting them as a batch Example Displaying total number of products travelling on multiple lines on a coun-OutlineterThe total number of products on all lines is counted. Then, the same number of pulses as counted products areoutput to the RC Series high speed counter to display the total number on the counter. Line 1 Pulse Line 2 6 5 4 Line 3 RST 3 2 1 RC Series Counter Line 4 Visual KV Series Line 5 FS Series Fiberoptic Sensors Programming TechniqueCreate an up-down counter using the INC instruction and DEC instruction.• To count the total number of products on the line, the INC instruction is used.➮ Refer to No. 1 “Counting total number of products”.• Since the total count is stored in the data memory, the same number of pulses as the stored value are output to the RC Series. The CMP instruction checks whether the value of the data memory is 0. This is repeated until the value of the data memory is 0. Each time a pulse is output, the value of the data memory is decremented by one.In the example from No.1 “Counting total number of products”, the data memory is used. When the temporary datamemory is used instead of the data memory, the value of the memory is reset to 0 automatically when power isturned OFF.Note 1: If the pulse period of the count input is very short, the RC’s display will not follow the flow of products.Note 2: Use the KV with transistor or MOS-FET type outputs.28
  • 29. VOL. 13 Receiving multiple pulses and outputting them as a batchProgramming Example 2002 HSP0001 0000 HSP0002 0001 The time constant of input relays 0000 to 0004 is set to 10 µs so that high speed inputs can be HSP0003 0002 received. (If you use an input device that chatters, such as HSP a limit switch, do not use the HSP instruction.)0004 0003 HSP0005 0004 0000 TM020006 INC 0001 TM020007 INC 0002 TM02 Each time one of input relays 0000 to 0004 turns0008 INC ON, the value of temporary data memory TM02 is incremented by one. 0003 TM020009 INC 0004 TM020010 INC 2002 TM02 #00000 2010 T000 #00010 When the value of temporary data memory TM020011 LDA CMP T H 000 is not #00000, timer T000 cycles ON and OFF each 0.1 sec. T000 TM02 05000012 DEC Each time timer T000 turns ON, the value of TM02 is decremented by one and output is sent through 0500. Tips To minimize the response delay of the counter display, the following cir- cuit is recommended. 2002 TM02 #00000 2011 1000 LDA CMP 0500 1000 KEEP SET 0500 0500 RES 0500 TM02 DEC When this circuit is replaced with that on the 11th and 12th lines of the above program, 0500 turn ON every two scans. Accordingly, the RC counts once in two scans. When the scan time is 0.3 ms, for example, the RC counts every 0.6 ms. Higher speed response can be obtained by using the above circuit than by using the 1-ms timer. 29
  • 30. Converting high speed pulses into VOL. 14 low speed pulses Example Converting pulse frequencyOutlineHigh speed pulses emitted from the high speed response fiberoptic sensor FS-M1H are converted into low speedpulses, and the same number of low speed pulses are output to an electromagnetic counter or host controller. Electromagnetic counter Large host controller Visual KV Series Low speed pulse High speed pulses Programming TechniqueThe number of high speed pulses are counted using CTH0, and low speed pulses are output until the high speedpulse count is the same as that of low speed pulses.High speed pulses are counted using CTH0. Low speed pulses are uniformly output to control the internal timer.The value of the temporary data memory is incremented by one each time a pulse is sent. The pulses continue tobe output until the value of the temporary data memory equals the count value of CTH0. 2002 CTH0 TM02 2010 T001 #00100 #00200 T T LDA CMP S 000 S 001 T000 0500 T001 TM02 INC TM02: Used for counting the number of low speed pulsesThe width and period of pulses to be output through 0500 can be set as required using timers T000 and T001. Pulse width =preset value of T001 - preset value of T000 Pulse period = preset value of T001Note: Frequency of low speed pulses depends on error margin of timers T000 and T001.➮ To count the number of cyclic outputs using the temporary data memory, refer to No. 13 “Receiving Multiple Pulses then Outputting Them as A Batch”.30
  • 31. VOL. 14 Converting high speed pulses into low speed pulsesProgramming Example 2008 #00000 2100 CTH00001 LDA STA When the operation is started, reset high- RES speed counter CTH0 to the initial setting. 2002 HSP0002 0004 The input time constant for input 0004 is set to 10 µs. 2002 CTH00003 0004 High speed pulses are input through 0004. 2002 CTH0 TM02 2010 T001 #00100 #002000004 LDA CMP T S 000 T S 001 Pulses whose width is 100 ms and whose period is 200 ms are cyclic-output through T000 05000005 0500 until the count value of high speed pulses becomes same as that of low speed pulses. T001 TM020006 INC Each time T001 turns ON, the value of TM02 is incremented by one. Tips In the above program, up to 65,535 (maximum number that high speed counter can count) high speed pulses can be converted into low speed pulses. (When 24 bit mode is used, the maximum count is 16,777,215.) When more than 65,535 pulses need be counted, a pro- gram should be created so that the following conditions are satisfied: Overflow frequency of high speed pulses = overflow frequency of low speed pulses Count value of high speed pulses is same as that of low speed pulses The programming example is shown below. 2008 CTH0 2103 0001 EI RES SET 2002 HSP 0002 0004 2002 #65535 CTH0 0003 CTC0 0004 2002 CTH0 TM02 2010 1000 0004 LDA CMP TM10 TM03 2010 1001 0005 LDA CMP Pulses whose width is 100 ms and whose period is 1000 T000 #00100 #00200 200 ms are cyclic-output through 0500 until the T T 0006 S 000 S 001 count value of high speed pulses becomes same as 1001 0007 that of low speed pulses. T000 0500 0008 T001 TM02 TM02 #65535 2010 #00000 TM02 TM03 0009 INC LDA CMP LDA STA INC When the value of TM02 exceeds 65,535 (overflow END occurs), the overflow frequency is stored in TM03. 0010 INT 0011 CTC0 2002 TM10 When CTH0 counts up to 65,535 (overflow occurs), 0012 INC the overflow frequency is stored in TM10. RETI TM02: Used for counting the number of low speed 0013 pulses ENDH 0014 TM03: Used for counting the overflow frequency of low speed pulses TM10: Used for counting the overflow frequency of high speed pulses Number of low speed pulses that are output: Overflow frequency of high speed pulses x 65,535 + count value of high speed pulses. 31
  • 32. VOL. 15 Bit counting (Bit checking) Example Checking how many error detection signals are input to input relays of channelOutlineThe KV checks how many sensors for detecting errors (that are connected to input relays 0000 to 0015 of channel0) are currently turned ON, allowing you to confirm the total number of errors. Error detection input 0015001400130012001100100009000800070006000500040003000200010000 OFF ON OFF OFF OFF OFF ON OFF OFF ON OFF OFF OFF OFF OFF ON Visual KV Series Four errors are detected.s Programming TechniqueThe KV checks whether each input relay is ON, and the number of relays that are ON are counted.Use the RRA instruction to check the status of input relays.Procedures1. The status of the input relays of channel 0 are entered into the internal register using the LDA instruction.2. Contents of the internal register are shifted right by one bit using the RRA instruction.3. Contents of the rightmost bit is entered into special utility relay 2009. When the contents of 2009 is 1 (ON), 1 is added to the number of errors.The above operation is repeated 16 times (number of bits of channel 0). 0000 0 0 1 5 0 0 1 4 0 0 1 3 0 0 1 2 0 0 1 1 0 0 1 0 0 0 0 9 0 0 0 8 0 0 0 7 0 0 0 6 0 0 0 5 0 0 0 4 0 0 0 3 0 0 0 2 0 0 0 1 0 0 0 0 LDA 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 1 Repeated 16 times. #01 0 0 1 5 0 0 1 4 0 0 1 3 0 0 1 2 0 0 1 1 0 0 1 0 0 0 0 9 0 0 0 8 0 0 0 7 0 0 0 6 0 0 0 5 0 0 0 4 0 0 0 3 0 0 0 2 0 0 0 1 0 0 0 0 2009 RRA 0 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 1 When content of 2009 is 1 (ON), 1 is added to the number of errors. When content of 2009 is 0 (OFF), no action is performed.The SRA instruction can be used in the same way.➮ Refer to KV Series Users Manual, “Change in status of special utility relays by arithmetic instruction” on page 580 to 582.32
  • 33. VOL. 15 Bit counting (Bit checking)Programming Example 2002 00000001 LDA The ON/OFF status of the input relays of channel 0 are always entered into the internal register. FOR0002 #00016 16 bits of the internal register are checked. 2002 #01 2009 TM10 Bits are shifted right one by one each time the bit0003 RRA INC of 2009 is checked, and the value of TM10 is incremented by one when 2009 turns ON. NEXT0004 After the 16 bits are checked, the value of TM10 is 2002 TM10 DM0000 #00000 TM100005 transferred to DM0000 and the value of TM10 is LDA STA LDA STA reset to 0. The value entered into DM0000 is the number of inputs that turns ON. Tips When some of the input relays of channel 0 are used for purposes other than error detection, the ON/OFF status of those input relays should not be subjected to bit checking. Immediately after status of the input relays of channel 0 are read using the LDA instruc- tion, fetch only status of the desired inputs using the ANDA instruction. Example When input 0006 is not used for error detection input: 2002 0000 $FFBF 0001 LDA ANDA 0000 0015 0014 0013 0012 0011 0010 0009 0008 0007 0006 0005 0004 0003 0002 0001 0000 LDA 0 1 0 0 0 0 1 0 0 1 0 0 0 0 0 1 $FFBF 0015 0014 0013 0012 0011 0010 0009 0008 0007 0006 0005 0004 0003 0002 0001 0000 ANDA 1 1 1 1 1 1 1 1 1 0 1 1 1 1 1 1 0015 0014 0013 0012 0011 0010 0009 0008 0007 0006 0005 0004 0003 0002 0001 0000 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 1 #01 0015 0014 0013 0012 0011 0010 0009 0008 0007 0006 0005 0004 0003 0002 0001 0000 2009 RRA 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 1 As shown above, the status of error detection input relays only can be read, allowing the number of errors to be counted. When the input relays of another channel, in addition to channel 0, are also used for error detection input, specify the desired channel for LDA and create the same program as the above, then combine it with the above program. ➮ The number of error detection inputs can be counted using the INC instruction more easily than using the C (Counter) instruction. For details, refer to No. 1 “Counting total number of products”. 33
  • 34. Shift register simulation in an asyn- VOL. 16 chronous production line Example Ejecting rejects without a constant synchronous signalOutlineWhen interval between workpieces on the production line varies, rejects are correctly ejected only by using sensorsfor detecting rejects and for confirming a workpiece in the ejection position.• Inputting clock pulses (synchronous signal) for a timing cam is not required. Inspection process Ejection process Even if interval between workpieces is not constant, rejects can still be correctly ejected. Sensor for Sensor for confirming detecting rejects workpiece in ejection INPUT 0001 position INPUT 0002 Box for Sensor for synchronization receiving INPUT 0000 rejectss Programming TechniqueSince the clock pulse input to control the position of a reject on the line is not used, the SFT instruction cannot beused. ➮ Refer to No. 2 “Shift register”.Then, use the data memory to eject rejects.Information whether each workpiece is acceptable or not is stored sequentially into the data memory. When eachworkpiece reaches the ejection position, the workpiece is accepted or ejected according to the stored information.First-in first-out (FIFO) queuing is used to store and read data. Reject detection input: 0001 DM0004 O K DM0004 Blank When input from the workpiece confirmation DM0003 N G sensor at the ejection position DM0003 O K (0002) turns ON DM0002 O K DM0002 N G DM0001 O K DM0001 O K Ejection DM0000 N G DM0000 O K N G34
  • 35. VOL. 16 Shift register simulation in an asynchronous production lineProgramming Example 2008 $FFFF DMOOO0 DMOOO1 DMOOO2 DMOOO3 DMOOO4 When power is turned ON, $FFFF is written into0001 LDA STA STA STA STA STA DM0000 to DM0004. $FFFF assumes that content of the data memories is blank. 0000 0001 $1111 DMOOO40002 LDA STA When input 0000 (input from sensor for synchroniza- tion) turns ON, detection of rejects is performed (0001). 0001 $0000 DMOOO4 Acceptable workpiece: $0000 is entered into DM0004.0003 LDA STA Defective workpiece: $1111 is entered into DM0004. 0002 1001 1001 DM0000 $1111 2010 10000004 LDA CMP When the workpiece in ejection position is defective DIFU ($1111), output is sent through 1000. $FFFF DM0000 After workpiece acceptability has been determined,0005 LDA STA the contents of DM0000 is erased. 1000 #000100006 T000 When the workpiece is defective, a one-shot output is sent through 0500. 0500 T000 05000007 2002 DM0000 $FFFF 2010 DM0001 DM0000 $FFFF0008 LDA CMP LDA STA DW DM0001 2002 DM0001 $FFFF 2010 DM0002 DM0001 $FFFF When the contents of DM0000 to DM0004 is0009 LDA CMP LDA STA DW blank, the contents of each data memory is DM0002 transferred to the previous data memory. 2002 DM0002 $FFFF 2010 DM0003 DM0002 $FFFF0010 LDA CMP LDA STA DW DM0003 Contents of data 2002 DM0003 $FFFF 2010 DM0004 DM0003 $FFFF $FFFF: No data (blank)0011 LDA CMP LDA STA DW $0000: Acceptable DM0004 $1111: Defective Tips The important point is that the blank data is entered into the contents of the data memory after a defective workpiece is ejected. On the 8th to 11th lines of the above program, the contents of data memory DM0000 is made blank after a reject is ejected. To perform the next ejection, the contents of the next data memory (DM0001) must be transferred to DM0000. Blank data memory is expressed as $FFFF, and the contents of data memories DM0001 to DM0004 is transferred sequentially to the previous data memory to fill the data memory where $FFFF is written. DM0003 N G N G N G DM0002 O K O K Blank DM0001 O K Blank O K DM0000 Blank N G O K O K By changing content of the data memory, product types can be differentiated. In addition to acceptable ($0000) and defective ($1111), other information can be digitalized and entered into the data memories. This allows differentiation between product types. Example Product type 1 ($0100), product type 2 ($0200), product type 3 ($0300), etc. 35
  • 36. VOL. 17 Emergency stop circuit Example Emergency stop for cutting workOutlineAn emergency stop is performed in the cutting process shown below. Operation procedures Emergency stop Closing chuck Emergency stop © Rotating workpiece © Advancing cutting tool and machining workpiece © Retreating Visual KV Series cutting tool © Releasing chucks Programming TechniqueUse the MC-MCR instructions for performing an emergency stop.Put the cutting program between the MC and MCR instructions and create the program so that the MC instructionis set to OFF when an emergency stop signal is input. Then the cutting process, which was interrupted by anemergency stop signal, is stored and can resume when the emergency stop is canceled.Configure program as follows: Emergency stop input ????? MC ????? ????? ????? ????? ????? ????? SET ????? ????? SET ????? ????? ????? RST ????? ????? ????? RES MCRControl circuit and emergency stop circuit can be programmed as 2 independent steps.36
  • 37. VOL. 17 Emergency stop circuitProgramming Example 0000 1000 When 0000 turns ON, STG 1000 turns ON and0001 SET the cutting operation starts. 0005 MC When 0005 turns ON, an emergency stop is0002 performed. (All outputs between MC and MCR instructions are turned OFF.) 1000 0500 0001 1001 The chuck closes and execution is transferred to0003 STG JMP STG 1001 when chuck confirmation input is set 0501 0502 0002 to ON. 1001 10020004 STG SET JMP The motor starts and the cutting tool advances. When the cutting tool reaches the other end, 1002 #00030 T000 0501 0503 0003 1003 execution is transferred to STG 1002.0005 STG T000 RES JMP The motor stops after 3 sec and the cutting tool is retracted. When the cutting tool reaches its 1003 0504 0000 1000 origin, execution is transferred to STG 1003.0006 STG JMP The chuck is released and the system waits for a restart. MCR0007 0000: Start 0001: Confirming chuck closing 0002: Confirming advance end 0003: Confirming retreat end* When operation resumes, after the emergency stop is canceled 0500: Closing chuck (0005: OFF), all relays except for output relays* are reactivated in the 0501: Rotating motor same status (ON/OFF) as before the emergency stop was performed. 0502: Advancing cutting tool The timer, however, operates from its initial status. 0503: Retreating cutting tool* Outputs are set to OFF when an emergency stop is performed. Tips For users who need a complete reset when the emergency stop is per- formed To perform a complete reset when the emergency stop is performed, add the following step to the above program as the 8th line. 0005 ENDS By adding the above step, execution of all STG instructions is stopped. The above is effective for resetting all relays when the STG instruction and JMP instruction are used in a sequential process. Even when processes other than a sequential process are controlled, the SFT instruction can be used conveniently to reset all the specified internal relays. 2003 SFT D 1000 2003 CLK 0005 1003 RES ➮ When input 0005 turns ON, internal relays 1000 to 1003 can be reset. 37
  • 38. VOL. 18 Selection of operation mode Example Selecting fully-automatic or individual operation modeOutlineOn a production line with multiple processing machines, the fully-automatic or individual operation mode is se-lected. (fully-automatic operation mode allows workpieces to be transferred sequentially to each machine, whileindividual operation mode allows each machine to be operated by pressing a pushbutton.) ce ce ce ng ng ng pie pie pie etti etti etti or k or k or k g1 g2 g3 iec g iec g iec g es es es wo firmin min wo firmin gw gw gw sin sin sin Fully- Individual nfir ces ces ces ctin ctin ctin automatic r kp r kp r kp n n Co Co Co Pro Pro Pro Eje Eje Eje wo Processing Processing Processing machine 1 machine 2 machine 3 Selector switch 0000 Pushbutton for individual operation 0007 0008 0009s Programming TechniquePoints are as follows:1. Sequential processing is controlled.2. Because one process is controlled using two inputs (fully-automatic and individual), a double-input coil is ap- plied.The STG instruction and JMP instruction are optimal for controlling the process shownabove.For the STG instruction, one coil can be used as the output for 2 relays as shown below. 1000 0001 1001 0500 STG 1001 0002 1000 0500 STGBy programming internal relays 1000 and 1001 not to turn ON simultaneously, the ON/OFF of 0500 can be control-led using the STG instruction for internal relays 1000 and 1001.38
  • 39. VOL. 18 Selection of operation modeProgramming Example 2008 0000 When power is turned ON, STG 1000 (fully-automatic operation 1000 mode) is selected when the input for the selector switch turns ON.0001 SET At this time, STG 1100 (individual operation mode) is selected 0000 1100 when the input for the selector switch turns OFF.0002 SET Fully-automatic operation mode 1000 0001 0500 0002 1001 Control of processing machine 1:0003 STG JMP After confirmation of workpiece setting, processing, and 1201 confirmation of workpiece ejection are completed, execution is0004 ENDS transferred to STG 1001 (processing machine 2). 1001 0003 0501 0004 The STG instruction for the fully-automatic operation mode is 10020005 canceled. STG JMP Control of processing machine 2: 1201 After confirmation of workpiece setting, processing, and0006 ENDS confirmation of workpiece ejection are completed, execution is 1002 0005 0502 0006 1000 transferred to STG 1002 (processing machine 3).0007 STG JMP The STG instruction for the fully-automatic operation mode is 1201 canceled.0008 ENDS Control of processing machine 3: After confirmation of workpiece setting, processing, and 1100 0007 0001 0500 confirmation of workpiece ejection are completed, execution is0009 STG transferred to STG 1000 (processing machine 1). 0008 0003 0501 The STG instruction for the fully-automatic operation mode is0010 canceled. 0009 0005 0502 Individual operation mode0011 Control of processing machine 1: After workpiece setting is 1200 confirmed, each workpiece is processed by pressing the0012 ENDS pushbutton switch. 0000 1200 1200 1000 Control of processing machine 2: After workpiece setting is0013 SET confirmed, each workpiece is processed by pressing the DIFU pushbutton switch. C000 1201 1201 1100 Control of processing machine 3: After workpiece setting is0014 DIFU SET confirmed, each workpiece is processed by pressing the pushbutton switch. The STG instruction for the individual operation mode is Description of terminals canceled.0000: Mode selector switch0001: Confirming workpiece setting (processing machine 1) The STG instruction for the individual operation mode is0002: Confirming workpiece ejection (processing machine 1) canceled, and the fully-automatic operation mode is selected.0003: Confirming workpiece setting (processing machine 2) The STG instruction for the fully-automatic operation mode is0004: Confirming workpiece ejection (processing machine 2) canceled and the individual operation mode is selected.0005: Confirming workpiece setting (processing machine 3)0006: Confirming workpiece ejection (processing machine 3)0007: Pushbutton switch for individual operation (processing machine 1)0008: Pushbutton switch for individual operation (processing machine 2)0009: Pushbutton switch for individual operation (processing machine 3)0500: Processing output (processing machine 1)0501: Processing output (processing machine 2)0502: Processing output (processing machine 3) Tips To repeat a cycle of fully-automatic operation several times, add the following step to the above program as the 11th line of the program. Example To repeat a cycle of fully-automatic operation 5 times: C000 #00005 C000 C000 ENDS 0006 The number of times that input 0006 turns on, indicating the completion of one cycle opera- tion (completion of machine 3 process), is counted. When the count value reaches the preset value, the entire process operation is terminated. (To restart operation, turn ON input 0000 again.) 39
  • 40. Step-progress operation VOL. 19 (sequential control) Example Step progress of material handling machineOutlineWhen the step-progress operation is specified, pressing the start button changes the operation process one by one. Origin point 1. Lowering the arm Operation panel 7 4 Step 2. Clamping 8 Auto Start 5 3. Raising the arm Stage 6 3 4. Forwarding the arm 5. Lowering the arm 2 1 6. Unclamping 7. Raising the arm Parts feeder 8. Returning the arms Programming TechniqueW-UE (wait up edge) instruction is useful for step-progress operation.When the W-UE instruction is used with the STG and JMP instructions, one start button allows the step-progressoperation (sequential control) of every process. Start button: 0000 Start button 1001 0500 0000 1101 1002 With W-UE instruction: Simple STG JMP 1101 1002 0501 0000 1102 1003 STG JMP 1102 1003 0502 0000 1103 1004 STG JMP 1103 0000 1101 Without W-UE instruction: Complicated DIFU 1001 0500 1101 1002 STG JMP 0000 1102 DIFU 1002 0501 1102 1003 STG JMP 0000 1103 DIFU 1003 0502 1103 1004 STG JMPWhen the STG and JMP instructions are used for the control of each process, the program can be created inde-pendently. This allows for easy programming.40
  • 41. VOL. 19 Step-progress operation (sequential control)Programming Example 0005 10000001 SET When 0005 turns ON, the step-progress operation is enabled. 1000 0000 1100 10010002 STG JMP When 0000 turns ON, the arm is lowered. 1100 1001 0500 0000 1101 10020003 STG JMP When 0000 turns ON, the product is clamped. 1101 1002 0501 0000 1102 10030004 STG JMP When 0000 turns ON, the arm is raised. 1102 1003 0502 0000 1103 10040005 STG JMP When 0000 turns ON, the arm is forwarded. 1103 1004 0503 0000 1104 10050006 STG JMP When 0000 turns ON, the arm is lowered. 1104 1005 0501 0000 1105 10060007 STG JMP When 0000 turns ON, the product is unclamped. 1105 1006 0504 0000 1106 10070008 STG JMP When 0000 turns ON, the arm is raised. 1106 1007 0502 0000 1107 10080009 STG JMP When 0000 turns ON, the arm returns. 1107 1008 0505 0000 1108 10000010 STG JMP When 0000 turns ON, the arm goes back to the 1108 origin point. 0000: Start button 0501: Clamping 0504: Unclamping 0005: Step-progress operation setting 0502: Raising the arm 0505: Returning the arm 0500: Lowering the arm 0503: Forwarding the arm Tips Save the internal relay by setting the step-progress operation using the W- UE instruction. Since the W-UE instruction does not allow for the duplication of the second operand, the programming example above requires several internal relays. However, the following program requires only the one point of an internal relay. 0005 1000 SET 2002 0000 1100 1000 1100 1100 1001 STG RES JMP 1001 0500 1100 1100 1002 STG RES JMP 1002 0501 1100 1100 1003 0000 STG RES JMP ???? The point is that the internal relay 1100 used for the W-UE instruction resets itself. 41
  • 42. VOL. 20 Frequency counter function Example Counting the number of rotations using the frequency counterOutlineWith the frequency counter function, which the Visual KV Series features as standard, measure the time for theoutput pulse of a rotating object received through input 0004 with the high-speed counter and convert it into afrequency (Hz). The measured frequency is used for the calculation of the number of rotations (rpm). Pulse Proximity sensor Visual KV SeriesApplications: Detecting the reduction in the number of rotations of a magnet, detecting the reduction in the numberof rotations of an agitator, and measuring the frequency of a rotating objects Programming TechniqueThe frequency counter function of high-speed counter CTH0 enables the measurement of the frequency of 30 kHzat maximum.Input the pulses for the frequency measurement to 0004. (In this case, phase B input 0006 is ignored.)Devices used for the frequency counter functionSpecial utility relay2305: Enable/disable the frequency counter function ON: Enable, OFF: DisableData memoriesDM1404: Measurement cycle of frequency count (1 to 9999 [ms])DM1405: Result of frequency count (Hz)Turning ON special utility relay 2305 starts the frequency counter function. The measurement result (Hz) is stored inDM1405.To set the interval of the frequency measurement (ms), specify the value larger than the scanning time in DM1404in the unit of ms.The number of rotations can be obtained from the measured frequency with the following calculation: No. of rotations (rpm) = Frequency (Hz) x 60 (sec.) / (No. of pulses for one rotation)Note: When setting the measurement cycle, limit the number of pulses that are input during one measurementcycle within the range of 2 to 65535.The frequency counter function and high-speed counter CTH0 cannot be used at the same time.42
  • 43. VOL.20 Frequency counter functionProgramming ExampleCount the number of rotations of the gear which requires 10 pulses for one rotation.Count the frequency of the pulses received through input 0004 every second (1000 ms). Store the result inDM0000 and store the calculated number of rotations in DM0001. 2008 #01000 DM1404 2305 LDA STA SET After the measurement cycle of the pulses is set to 1000 ms 2002 (1 sec.). The frequency counter start relay 2305 is turned ON. HSP 0004 The input time constant for input 0004 is set to 10 µs. 2002 DM1405 DM0000 LDA STA The measured frequency (Hz) is stored in DM0000. DM0000 #00060 #00010 DM0001 LDA MUL DIV STA The number of rotations (rpm) is calculated with the meas- ured frequency and is stored in DM0001. END ENDH Tips To obtain the signals of Hi, Go, and Lo using the number of rotations, use the COMPARE (CMP) instruction in the program. 2002 DM0001 DM0010 2009 1000 LDA CMP DM0001 > DM0010: Lo output 2002 DM0011 2009 1001 CMP DM0010 DM0001 < DM0011: Go output 2009 1002 DM0011 DM0001: Hi output 43
  • 44. VOL. 21 Sorting Example Sorting machines in the ascending order of productionOutlineIn the production site with multiple-injection molding machines, the Visual KV Series counts the number of moldedproducts of each machine. The resulting with count can be used to determine the machine of low production. <Before sorting> <After sorting> Machine No. Count value Machine 1 C001=#2500 DM0011=#0004: DM0001=#2100 Low Machine 2 C002=#2200 DM0012=#0002: DM0002=#2200 Machine 3 C003=#2400 DM0013=#0005: DM0003=#2300 Machine 4 C004=#2100 DM0014=#0003: DM0004=#2400 Machine 5 C005=#2300 DM0015=#0001: DM0005=#2500 High* This example uses 5 machines for simplification. This application is more effective with a greater number of machines.s Programming TechniquePrepare data memories for each machine to register the machine No. and the count value. (Example: Machine 1:DM0011 for machine No., DM0001 for count value)The sorting uses these data memories.The large/small comparison of all target data memories is repeated and the data memo-ries are sorted.Flow chart of large/small comparison Start DM(*): DM0001 to DM0005 Compares the data of DM (*) with DM (*+1) DM(*)>DM(*+1) DM(*)≤DM(*+1) (*+1)≤5 Switches the data and machine Nos. in DM Repeats the comparison until the data memory (*) and DM (*+1). number (*+1) becomes the last number (0005). (*+1)>5 Compares the new data in DM (*) with the data in DM (*-1). Repeats the comparison until the data memory number (*) becomes End the initial number (0001).It is convenient to use the indirect addressing with temporary data memory in order to specify the data memorynumber (*).44
  • 45. VOL. 21 SortingProgramming Example 0000 1001 1001 1000 030001 DIFU SET CALL #00001 TM10 #00002 TM11 Sorting busy relay 1000 is set at the0002 LDA STA LDA STA rising edge of 0000. The data memory #00011 TM12 #00012 TM13 and temporary data memory are set to0003 LDA STA LDA STA the initial settings. 1000 TM11 #00005 2011 000004 LDA CMP CALL If the value in TM11 is less than “5,” the END subroutine of the sorting is called.0005 SBN0006 01 Subroutine for switching the count values. 1000 #TM10 TM20 #TM11 #TM10 TM20 #TM110007 LDA STA LDA STA LDA STA The data in DM0001 to DM0005 are switched by using the indirect addressing. RET0008 SBN0009 02 Subroutine for switching the machine Nos. 2002 #TM12 TM20 #TM13 #TM12 TM20 #TM130010 LDA STA LDA STA LDA STA The data in DM0011 to DM0015 are switched by using the indirect addressing. RET0011 SBN0012 00 Subroutine for sorting 2002 #TM10 #TM11 2011 TM10 TM11 TM12 TM13 To sort values in ascending order, “1” is0013 LDA CMP INC INC INC INC added to the data memory No. (*) until TM11 #00005 2011 1000 “*+1” exceeds the last number “5.” When0014 LDA CMP RES it exceeds “5,” relay 1000 is reset and the 2011 01 02 operation finishes.0015 CALL CALL To sort values other than in ascending TM10 #00000 2010 TM10 TM11 order, the count values and the machine0016 LDA CMP DEC DEC Nos. in data memories are switched. To TM12 TM13 check the previous comparison, “1” is0017 DEC DEC subtracted from the data memory No. (*) until the number returns to the initial RET number (0).0018 SBN0019 03 Subroutine for initial setting of sorting. 2002 C001 DM0001 C002 DM0002 C003 DM0003 C004 DM00040020 LDA STA LDA STA LDA STA LDA STA The machine Nos. and count values are C005 DM0005 #00001 #00002 #00003 #00004 #00005 LDA STA DW DW DW DW DW temporarily copied in data memories.0021 DM0011 DM0012 DM0013 DM0014 DM0015 RET0022 ENDH * The count inputs for C001 to C0050023 should be prepared separately. 45
  • 46. VOL. 22 High-speed interrupt input function Example Measurement of passing time between two points using high-speed interrupt inputOutlineMeasure the time during which the target passes two points A and B and calculate the passing speed.The FS-M1H high-speed response photoelectric sensor is used as the sensor. The passing time is measured withthe internal clock of the high-speed counter in the unit of µs. Sensor 1 ON INPUT 0002 OFF Sensor 1 Visual KV Series Sensor 2 ON INPUT 0003 OFF Sensor 2 Passing time (µs)Applications: Measurement of the swing speed of a golf club head.s Programming TechniquePoint 1: Measure the passing time with the internal clock of the KV.• Use the KV’s internal clock (1-µs cycle) and the high-speed counter to measure the passing time. Passing time Sensor 1 Sensor 2 Internal clock (1 µs) No. of clock counts (Passing time) = (Cycle of internal clock: 1 µs) x (No. of clock counts)Point 2 The interrupt (INT) instruction is the best for the program.• When the sensor detects the target, the interrupt is executed. Store the current value of the high-speed counter in the data memory. When the interrupt is executed, the current value of the high-speed counter is automatically stored in the data memory (Input capture function). By using this function, the passing time is obtained as the difference between the stored counter values of sensor 1 and sensor 2. Passing time Sensor 1 (Interrupt 0002) Sensor 2 (Interrupt 0003) No. of pulses = xxxxx No. of pulses = yyyyy Internal clock No. of clock (1 µs) counts DM1932 DM1934 (Value stored by the input capture of 0002) (Value stored by the input capture of 0003) (Passing time) = [yyyyy (DM1934) - xxxxx (DM1932)] x (Cycle of internal clock: 1 µs)46
  • 47. VOL. 22 High-speed interrupt input functionProgramming Example• Measures the time from when input relay 0002 turns ON until input relay 0003 turn ON.• The measured value is written to data memory DM0000 (Unit: µs).• Writes the calculated speed into DM0010 (unit: m/ms). (This program sets the distance between sensor 1 and sensor 2 to 1 m.) 2008 2410 2411 2412 2413 When power is turned on, an EL instruction enables EI RES RES RES RES interrupts. Sets the interrupt polarity of inputs 0002 and 0003 to the rising edge. 2002 HSP 0002 Sets the input time constant of inputs 0002 and 0003 to HSP 10 µs. 0003 2002 CTH1 2200 CTH1 counts the pulses using a 1-µs internal clock. END INT When INT0002 is executed, the current value of CTH1 is 0002 automatically transferred to DM1932 and DM1933 (Input capture). RETI When INT0003 is executed, the current value of CTH1 is INT 0003 automatically transferred to DM1934 and DM1935 (Input capture). 2002 DM1934 DM1932 DM0000 LDA SUB STA Subtracts the input capture value of INT0002 from that of INT0003 to obtain the time it takes for the target to #00001 #01000 DM0000 DM0010 pass between two points and then writes it to DM0000. LDA MUL DIV STA (Unit: 1µs) (1) (2) RETI The passing speed is obtained through calculating (2) the passing time and (1) the distance between the two points (unit: m/ms). It is stored in DM0010. ENDH Tips Calculation of passing speed The passing speed is calculated with the following expression: Passing speed (m/ms) = ((1) Distance between two points [Unit: m]) / ((2) Passing time [Unit: ms]) In the program above, the passing time is measured in the unit of µs. Therefore, the meas- ured value is multiplied by the factor of 1000 (2) to be converted into the value in the unit of ms. The calculation uses 1 m (1) as the distance between the two points. To set the distance between the two points in the unit of cm, multiply it by the factor of 100 as the underlined section in the following program. The unit of speed is set to cm/ms. #00100 #00100 #01000 DM0000 DM0010 LDA MUL MUL DIV STA To convert the unit of time from µs to s (second), multiply values by the factor of 1,000,000 (execute 1,000x twice in a program). 47
  • 48. VOL. 23 Synchronous control function Example Synchronous control of a pulse motorOutlineSynchronize and control the roller speed at the feeding side and the ejecting side of a device.Control is easy when using the frequency counter function and specified frequency pulse output function featuredas standard with the Visual KV Series. Pulse input Pulse outputApplication: Time adjustment for sheet material remaining in the processing bath.s Programming TechniqueUse the frequency counter function of high-speed counter CTH0 to measure the frequency of the pulses (Hz) sentthrough input 0004. Then, use the specified frequency pulse output function to output the pulse of the same fre-quency as the measured input pulse from 0501. (Frequency counter function) (Specified frequency pulse output function) CTH0: high-speed counter (Measurement of 2306: Starts pulse output when turned ON. Pulse input pulse period) DM1936: Frequency of output pulse Pulse output 0004 2305: Enables operation when turned ON. 0501 DM1404: Measurement timing DM1405: Measured frequency Data transfer Frequency measurement Pulse outputThe pulses are output after the frequency is changed according to the measurement result. The response is de-layed by the length of the measurement.Devices used with the frequency counter Special utility relays Relay No. Description 2305 Use frequency counter. ON: Yes, OFF: No Data memory DM No. Description DM1404 Measurement cycle (ms) of frequency counter. (1 to 9999 [Units: ms]) DM1405 Result of frequency count (Hz) of frequency counter.Devices used with the specified frequency pulse output Special utility relays Relay No. Description Use specified frequency pulse output. ON: Yes, OFF: No Function 2306 is forced OFF when error relay 2307 turns ON. Error flag for specified frequency pulse output function. 2307 (When turned ON, the pulse output is turned OFF.) Data memory DM No. Description DM1936 Preset value for specified frequency pulse output is written. (16 to 50000 [Units: Hz])48
  • 49. VOL. 23 Synchronous control functionProgramming ExampleThe frequency of the pulse sent through input 0004 is measured every 100 ms. Then, the pulses of the samefrequency are output from 0501. The pulse output is disabled when the measured frequency is less than 16 Hz. 2008 #00100 DM1404 2305 LDA STA SET The measurement cycle is set to 100 ms. The frequency counter start relay (2305) turns ON. 2002 HSP 0004 The input time constant of input 0004 is set to 10 µs. 2002 2306 DM1405 DM1936 SET LDA STA The specified frequency pulse output start relay (2306) is turned 2307 0500 ON. The measured frequency (DM1405, Unit: Hz) is used as the output frequency (DM1936, Unit: Hz). Output 0500 turns ON when an error occurs in the setting of the END specified frequency pulse output. ENDH Tips • The pulses of the frequency up to 30 kHz can be measured with the frequency counter function. • The pulses of the frequency up to 50 kHz can be output with the specified frequency pulse output function. (Duty cycle of the pulses is 50%.) • It is also possible to multiply the measured frequency by the factor of 2 or 1/2 for the output. Example Output pulses of half frequency of the measured frequency. The pulse output is disabled when the measured frequency is less than 16 Hz. 2002 2306 DM1405 #00002 DM1936 SET LDA DIV STA 49
  • 50. VOL. 24 High-speed counter Example Multi-step comparator operation with high-speed counterOutlineBy counting the pulses from the encoder, control the feeding amount of cloth and cut it at a specified length.The high-speed counter is used to count the high-speed pulses from the encoder.The number of pulses for the deceleration point, stopping point, and overrunning point are preset in data memories. Start of winding Cutting machine Enter the preset Film Decrease in value of the number winding speed of pulses for each point. End of winding Encoder Pulley for Cutting Overrunning detection AlarmApplication: Cutting products at a specified lengths Programming TechniqueThis control requires three preset values of the number of pulses to determine deceleration, stopping, andoverrunning points.The program of multi-step comparator operation can be simplified by using the multi-step comparator mode of thehigh-speed counter’s cam switch function.In the multi-step comparator mode, the value in DM1401 is compared with each preset value (DM 1406 toDM1469). When the value in DM1401 is larger than the preset value, the corresponding relay is turned ON/OFF.Up to 32 points can be set as the preset values.High-speed counter CTH1 counts the pulses from the encoder received through inputs 0005 and 0007. The currentvalue of CTH1 is transferred to DM1401 as the value for comparison.Set the preset values (comparator values) in DM1406 to DM1469 before the operation.To enable the multi-step comparator operation, turn ON special utility relay 2314.To stop the operation, turn OFF special utility relay 2715.Devices used in multi-step comparator modeSpecial utility relays2314: Operation start relay (Operation starts when turned ON)2315: Error relay (Turns ON during an error.)2715: In-operation relay (Turns ON during operation.)Data memoriesDM1400: The initial No. of output relaysDM1401: The value to be compared. (0 to 65535)DM1402: Enter “65535” in the multi-step comparator mode.DM1406: Preset value to turn ON output relay “initial No. + 0” (0 to 65534)DM1407: Preset value to turn OFF output relay “initial No. + 0” (0 to 65534)DM1408: Preset value to turn ON output relay “initial No. + 1” (0 to 65534)DM1409: Preset value to turn OFF output relay “initial No. + 1” (0 to 65534) : :DM1468: Preset value to turn ON output relay “initial No. + 31” (0 to 65534)DM1469: Preset value to turn OFF output relay “initial No. + 31” (0 to 65534)50
  • 51. VOL. 24 High-speed counterProgramming ExampleWhen input 0001 turns ON, the multi-step comparator mode is enabled.When input 0002 turns ON, the multi-step comparator mode is disabled.Outputs are assigned as follows:Deceleration: 0500, Stopping: 0501, Overrunning: 0502 2008 2213 2214 CTH1 SET RES RES High-speed counter CTH1 is set to the double multiplication mode. #00500 #65535 DW DW Relay 0500 is set as the initial relay to be used in the multi-step DM1400 DM1402 comparator mode. The multi-step comparator mode is specified. #10000 #15000 #20000 DW DW DW The positions where relays 0500 to 0502 turn ON/OFF are DM1406 DM1408 DM1410 specified. #11000 #16000 #21000 DW DW DW DM1407 DM1409 DM1411 2002 HSP 0005 The input time constants for inputs 0005 and 0007 are set to 10 µs. HSP 0007 2002 CTH1 0005 High-speed counter CTH1 counts the pulses from the encoder. CTH1 DM1401 The current value of CTH1 is transferred to DM1401. This value is LDA STA used for the comparison. 0000 1000 1000 2314 DIFU SET When input 0000 turns ON, the multi-step comparator mode is 0001 1001 2715 activated. 1001 DIFU RES When input 0001 turns ON, The multi-step comparator mode is stopped. END ENDH Tips The multi-step comparator mode compares values with the value stored in DM1401. Therefore, not only the high-speed counter values but also the current values of a timer or counter can be used for the multi-step comparator operation. 51
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