DVP-PLC Application Manual: Programming Table of Contents Chapter 1 Basic Principles of PLC Ladder Diagram Foreword: Background and Functions of PLC.......................................................... 1-1 1.1 The Working Principles of Ladder Diagram........................................................ 1-1 1.2 Differences Between Traditional Ladder Diagram and PLC Ladder Diagram........ 1-2 1.3 Edition Explanation of Ladder Diagram ............................................................. 1-3 1.4 How to Edit Ladder Diagram............................................................................. 1-8 1.5 The Conversion of PLC Command and Each Diagram Structure ......................... 1-12 1.6 Simplified Ladder Diagram ............................................................................... 1-15 1.7 Basic Program Designing Examples.................................................................. 1-17 Chapter 2 Functions of Devices in DVP-PLC 2.1 All Devices in DVP-PLC.................................................................................... 2-1 2.2 Values, Constants [K] / [H] ............................................................................... 2-8 2.3 Numbering and Functions of External Input/Output Contacts [X] / [Y].................. 2-10 2.4 Numbering and Functions of Auxiliary Relays [M] .............................................. 2-13 2.5 Numbering and Functions of Step Relays [S]..................................................... 2-13 2.6 Numbering and Functions of Timers [T]............................................................. 2-15 2.7 Numbering and Functions of Counters [C]......................................................... 2-16 2.8 Numbering and Functions of Registers [D], [E], [F]............................................ 2-31 2.8.1 Data register [D]........................................................................................ 2-31 2.8.2 Index Register [E], [F]................................................................................ 2-32 2.8.3 Functions and Features of File Registers.................................................... 2-32 2.9 Pointer [N], Pointer [P], Interruption Pointer [I].................................................. 2-33 2.10 Special Auxiliary Relays and Special Data Registers........................................ 2-36 2.11 Functions of Special Auxiliary Relays and Special Registers............................. 2-83 2.12 Communication Addresses of Devices in DVP Series PLC................................ 2-149 2.13 Error Codes................................................................................................... 2-151 Chapter 3 Basic Instructions 3.1 Basic Instructions and Step Ladder Instructions ................................................ 3-1 3.2 Explanations on Basic Instructions ................................................................... 3-4 Chapter 4 Step Ladder Instructions 4.1 Step Ladder Instructions [STL], [RET]............................................................... 4-1 4.2 Sequential Function Chart (SFC)...................................................................... 4-2 4.3 How does a Step Ladder Instruction Work?....................................................... 4-3 4.4 Things to Note for Designing a Step Ladder Program......................................... 4-8 4.5 Types of Sequences......................................................................................... 4-10 4.6 IST Instruction................................................................................................. 4-18 Chapter 5 Categories & Use of Application Instructions 5.1 List of Instructions ........................................................................................... 5-1 5.2 Composition of Application Instruction .............................................................. 5-7 5.3 Handling of Numeric Values.............................................................................. 5-12 5.4 E, F Index Register Modification....................................................................... 5-15 5.5 Instruction Index.............................................................................................. 5-17 Chapter 6 Application Instructions API 00-49 ● （API00 ~ 09）Loop Control.......................................................................... 6-1 ● （API10 ~ 19）Transmission Comparison ...................................................... 6-19 ● （API20 ~ 29）Four Arithmetic Operation ...................................................... 6-34 ● （API30 ~ 39）Rotation & Displacement........................................................ 6-48 ● （API40 ~ 49）Data Processing .................................................................... 6-59 Chapter 7 Application Instructions API 50-99 ● （API50 ~ 59）High Speed Processing.......................................................... 7-1 ● （API60 ~ 69）Handy Instructions................................................................. 7-41 ● （API70 ~ 79）Display of External Settings ................................................... 7-71 ● （API80 ~ 88）Serial I/O............................................................................... 7-93 Chapter 8 Application Instructions API 100-149 ● （API100 ~ 109）Communication.................................................................. 8-1 ● （API110 ~ 119）Floating Point Operation..................................................... 8-21 ● （API120 ~ 129）Floating Point Operation..................................................... 8-29 ● （API130 ~ 139）Floating Point Operatio....................................................... 8-39 ● （API140 ~ 149）Others............................................................................... 8-51 Chapter 9 Application Instructions API 150-199 ● （API150 ~ 154）Others............................................................................... 9-1 ● （API155 ~ 159）Position Control ................................................................. 9-24 ● （API160 ~ 169）Real Time Calendar............................................................ 9-54 ● （API170 ~ 179）Gray Code Conversion/Floating Point Operation.................. 9-65 ● （API180 ~ 199）Matrix................................................................................ 9-82 ● （API190 ~ 197）Positioning Instruction........................................................ 9-98 Chapter 10 Application Instructions API 215-246 ● （API202 ~ 207）Others............................................................................... 10-1 ● （API215 ~ 223）Contact Type Logic Operation Instruction............................ 10-15 ● （API224 ~ 269）Contact Type Compare Instruction ...................................... 10-18 ● （API270 ~ 280）Contact Type Compare Instruction ...................................... 10-25 ● （API281 ~ 292）Contact Type Compare Instruction ...................................... 10-31 Chapter 11 Appendix 11.1 Appendix A: Self Detection Table for Abnormality.......................................... 11-1 11.2 Appendix B: MPU Terminal Layout ............................................................... 11-2 11.3 Appendix C: Terminal Layout for Digital I/O Modules..................................... 11-6 11.4 Appendix D: Difference between EH2 and EH3............................................. 11-9 11.5 Appendix E: Revision History....................................................................... 11-10 The models that every series includes are as follows. Series Model name DVP14ES00R2, DVP14ES00T2, DVP14ES01R2, DVP14ES01T2, DVP24ES00R, DVP24ES00R2, DVP24ES00T2, DVP24ES01R2, DVP24ES01T2, DVP24ES11R2, DVP30ES00R2, DVP30ES00T2, DVP32ES00R, DVP32ES00R2, DVP32ES00T2, DVP32ES01R2, DVP32ES01T2, DVP40ES00R2, DVP40ES00T2, DVP60ES00R2, DVP-ES DVP60ES00T2 DVP10EC00R3, DVP10EC00T3, DVP14EC00R3, DVP14EC00T3, DVP16EC00R3, DVP16EC00T3, DVP20EC00R3, DVP20EC00T3, DVP24EC00R3, DVP24EC00T3, DVP30EC00R3, DVP30EC00T3, DVP32EC00R3, DVP32EC00T3, DVP40EC00R3, DVP40EC00T3, DVP60EC00R3, DVP60EC00T3, DVP-EX DVP20EX00R2, DVP20EX00T2, DVP20EX11R2 DVP-SS DVP14SS11R2, DVP14SS11T2 DVP-SA DVP12SA11R, DVP12SA11T DVP-SX DVP10SX11R, DVP10SX11T DVP-SC DVP12SC11T DVP16EH00R2, DVP16EH00T2, DVP20EH00R2, DVP20EH00T2, DVP32EH00M2, DVP32EH00R2, DVP32EH00T2, DVP40EH00R2, DVP40EH00T2, DVP48EH00R2, DVP-EH2 DVP48EH00T2, DVP60EH00T2, DVP64EH00R2, DVP64EH00T2, DVP80EH00R2, DVP80EH00T2, DVP32EH00R2-L, DVP32EH00T2-L DVP-SV DVP28SV11R, DVP28SV11T DVP16EH00R3, DVP16EH00T3, DVP20EH00R3, DVP20EH00T3, DVP32EH00M3, DVP32EH00R3, DVP32EH00T3, DVP40EH00R3, DVP40EH00T3, DVP48EH00R3, DVP-EH3 DVP48EH00T3, DVP60EH00T3, DVP64EH00R3, DVP64EH00T3, DVP80EH00R3, DVP80EH00T3, DVP32EH00R3-L, DVP32EH00T3-L DVP-SV2 DVP28SV11R2, DVP28SV11T2 1 Basic Principles of PLC Ladder Diagram Foreword: Background and Functions of PLC PLC (Programmable Logic Controller) is an electronic device, previously called “sequence controller”. In 1978, NEMA (National Electrical Manufacture Association) in the United States officially named it as “programmable logic controller”. PLC reads the status of the external input devices, e.g. keypad, sensor, switch and pulses, and execute by the microprocessor logic, sequential, timing, counting and arithmetic operations according the status of the input signals as well as the pre-written program stored in the PLC. The generated output signals are sent to output devices as the switch of a relay, electromagnetic valve, motor drive, control of a machine or operation of a procedure for the purpose of machine automation or processing procedure. The peripheral devices (e.g. personal computer/handheld programming panel) can easily edit or modify the program and monitor the device and conduct on-site program maintenance and adjustment. The widely used language in designing a PLC program is the ladder diagram. With the development of the electronic technology and wider applications of PLC in the industry, for example in position control and the network function of PLC, the input/output signals of PLC include DI (digital input), AI (analog input), PI (pulse input), NI (numeric input), DO (digital output), AO (analog output), and PO (pulse output). Therefore, PLC will still stand important in the industrial automation field in the future. 1.1 The Working Principles of Ladder Diagram The ladder diagram was a diagram language for automation developed in the WWII period, which is the oldest and most widely adopted language in automation. In the initial stage, there were only A (normally open) contact, B (normally closed) contact, output coil, timer and counter…the sort of basic devices on the ladder diagram (see the power panel that is still used today). After the invention of programmable logic controllers (PLC), the devices displayable on the ladder diagram are added with differential contact, latched coil and the application commands which were not in a traditional power panel, for example the addition, subtraction, multiplication and division operations. The working principles of the traditional ladder diagram and PLC ladder diagram are basically the same. The only difference is that the symbols on the traditional ladder diagram are more similar to its original form, and PLC ladder diagram adopts the symbols that are easy to recognize and shown on computer or data sheets. In terms of the logic of the ladder diagram, there are combination logic and sequential logic. 1. Combination Logic Examples of traditional ladder diagram and PLC ladder diagram for combination logic: Traditional Ladder Diagram PLC Ladder Diagram X0 Y0 X0 Y0 X1 Y1 X1 Y1 X2 X4 X2 X4 Y2 Y2 X3 X3 Row 1: Using a normally open (NO) switch X0 (“A” switch or “A" contact). When X0 is not pressed, the contact DVP-PLC Application Manual 1-1 1 Basic Principles of PLC Ladder Diagram will be open loop (Off), so Y0 will be Off. When X0 is pressed, the contact will be On, so Y0 will be On. Row 2: Using a normally closed (NC) switch X1 (“B” switch or “B” contact). When X1 is not pressed, the contact will be On, so Y1 will be On. When X1 is pressed, the contact will be open loop (Off), so Y1 will be Off. Row 3: The combination logic of more than one input devices. Output Y2 will be On when X2 is not pressed or X3 and X4 are pressed. 2. Sequential Logic Sequential logic is a circuit with "draw back” structure, i.e. the output result of the circuit will be drawn back as an input criterion. Therefore, under the same input criteria, different previous status or action sequence will follow by different output results. Examples of traditional ladder diagram and PLC ladder diagram for sequential logic: Traditional Ladder Diagram PLC Ladder Diagram X5 X6 Y3 X5 X6 Y3 Y3 Y3 When the circuit is first connected to the power, though X6 is On, X5 is Off, so Y3 will be Off. After X5 is pressed, Y3 will be On. Once Y3 is On, even X5 is released (Off), Y3 can still keep its action because of the draw back (i.e. the self-retained circuit). The actions are illustrated in the table below. Device status X5 X6 Y3 Action sequence 1 No action No action Off 2 Action No action On 3 No action No action On 4 No action Action Off 5 No action No action Off From the table above, we can see that in different sequence, the same input status can result in different output results. For example, switch X5 and X6 of action sequence 1 and 3 do not act, but Y3 is Off in sequence 1 and On in sequence 3. Y3 output status will then be drawn back as input (the so-called “draw back”), making the circuit being able to perform sequential control, which is the main feature of the ladder diagram circuit. Here we only explain contact A, contact B and the output coil. Other devices are applicable to the same method. See Chapter 3 “Basic instructions” for more details. 1.2 Differences Between Traditional Ladder Diagram and PLC Ladder Diagram Though the principles of traditional ladder diagram and PLC ladder diagram are the same, in fact, PLC adopts microcomputer to simulate the motions of the traditional ladder diagram, i.e. scan-check status of all the input devices and output coil and calculate to generate the same output results as those from the traditional ladder diagram based on the logics of the ladder diagram. Due to that there is only one microcomputer, we can only check the program of the ladder diagram one by one and calculate the output results according to the program and the I/O status before the cyclic process of sending the results to the output interface (cid:198) re-reading of the input status (cid:198) calculation (cid:198) output. The time spent in the cyclic process is called the “scan time” and the time can be longer with the expansion of the 1-2 DVP-PLC Application Manual 1 Basic Principles of PLC Ladder Diagram program. The scan time can cause delay from the input detection to output response of the PLC. The longer the delay, the bigger the error is to the control. The control may even be out of control. In this case, you have to choose a PLC with faster scan speed. Therefore, the scan speed is an important specification requirement in a PLC. Owing to the advancement in microcomputer and ASIC (IC for special purpose), there has been great improvement in the scan speed of PLC nowadays. See the figure below for the scan of the PLC ladder diagram program. Read input status from outside X0 X1 Start Y0 The output result is calculated Y0 based on the ladder diagram. (The result has not yet sent to the M100 X3 X10 Executing in cycles external output point, but the Y1 : internal device will perform an : immediate output.) X100 M505 Y126 End Send the result to the output point Besides the difference in the scan time, PLC ladder and traditional ladder diagram also differ in “reverse current”. For example, in the traditional ladder diagram illustrated below, when X0, X1, X4 and X6 are On and others are Off, Y0 output on the circuit will be On as the dotted line goes. However, the PLC ladder diagram program is scanned from up to down and left to right. Under the same input circumstances, the PLC ladder diagram editing tool WPLSoft will be able to detect the errors occurring in the ladder diagram. Reverse current of traditional ladder diagram Reverse current of PLC ladder diagram X0 X1 X2 Y0 X0 X1 X2 Y0 Y0 X3 a X4 b X5 X3 a X4 bX5 X6 X6 Error detected in the third row 1.3 How to Edit Ladder Diagram Ladder diagram is a diagram language frequently applied in automation. The ladder diagram is composed of the symbols of electric control circuit. The completion of the ladder diagram by the ladder diagram editor is the completion of the PLC program design. The control flow illustrated by diagram makes the flow more straightforward and DVP-PLC Application Manual 1-3 1 Basic Principles of PLC Ladder Diagram acceptable for the technicians of who are familiar with the electric control circuit. Many basic symbols and actions in the ladder diagram come from the frequently-seen electromechanical devices, e.g. buttons, switches, relay, timer and counter, etc. in the traditional power panel for automation control. Internal devices in the PLC: The types and quantity of the devices in the PLC vary in different brand names. Though the internal devices in the PLC adopts the names, e.g. transistor, coil, contact and so on, in the traditional electric control circuit, these physical devices do not actually exist inside the PLC. There are only the corresponding basic units (1 bit) inside the memory of the PLC. When the bit is “1”, the coil will be On, and when the bit is “0”, the coil will be Off. The normally open contact (NO or contact A) directly reads the value of the corresponding bit. The normally close contact (NC or contact B) reads the opposite state of the value of the corresponding bit. Many relays will occupy many bits. 8 bits equal a “byte”. 2 bytes construct a “word” and 2 words combined is “double word”. Byte, word or double words are used when many relays are processed (e.g. addition/subtraction, displacement) at the same time. The other two devices, timer and counter, in the PLC have coil, timer value and counter value and they have to process some values in byte, word or double word. All kinds of internal devices in the value storage area in the PLC occupy their fixed amount of storage units. When you use these devices, you are actually read the contents stored in the form of bit, byte or word. Introductions on the basic internal devices in the PLC (See Ch 2. Functions of Devices in DVP-PLC for more details.) Device Functions The input relay is an internal memory (storage) unit in the PLC corresponding to a external input point and is used for connecting to the external input switches and receiving external input signals. The input relay will be driven by the external input signals which make it “0” or “1". Program designing cannot modify the status of the relay, i.e. it cannot re-write the basic unit of a relay, nor can it force On/Off of the relay by HPP/WPLSoft. SA/SX/SC/EH2/SV/EH3/SV2 series MPU can simulate input relay X and force On/Off of the relay. But the status of the external input points will be updated and disabled, i.e. the external Input relay input signals will not be read into their corresponding memories inside PLC, but only the input points on the MPU. The input points on the extension modules will still operate normally.There are no limitations on the times of using contact A and contact B of the input relay. The input relays without corresponding input signals can only be left unused and cannot be used for other purposes. (cid:38) Device indication: X0, X1,…X7, X10, X11,… are indicated as X and numbered in octal form. The No. of input points are marked on MPU and extension modules. The output relay is an internal memory (storage) unit in the PLC corresponding to a external output point and is used for connecting to the external load. The output relay will be driven by the contact of an input relay, contacts of other internal devices and the contacts on itself. A Output relay normally open contact of the output relay is connected to the external load. Same as the input contacts, there are no limitations on the times of using other contacts of the output relay. The output relay without corresponding output signals can only be left unused and can be used as input relay if necessary. 1-4 DVP-PLC Application Manual 1 Basic Principles of PLC Ladder Diagram Device Functions (cid:38) Device indication: Y0, Y1,…Y7, Y10, Y11,…are indicated as Y and numbered in octal form. The No. of output points are marked on MPU and extension modules. The internal relay does not have connection with the external. It is an auxiliary relay inside the PLC with the functions same as those of the auxiliary (middle) relay in the electric control circuit. Every internal relay corresponds to a basic internal storage unit and can be driven by Internal relay the contacts of the input relay, contacts of the output relay and the contacts of other internal devices. There are no limitations on the times of using the contacts of the internal relay and there will be no output from the internal relay, but from the output point. (cid:38) Device indication: M0, M1,…, M4095 are indicated as M and numbered in decimal form. DVP series PLC offers a step-type control program input method. STL instruction controls the transfer of step S, which makes it easy for the writing of the control program. If you do not use Step any step program in the control program, step S can be used as a internal relay M as well as an alarm point. (cid:38) Device indication: S0, S1,…S1023 are indicated as S and numbered in decimal form. The timer is used for timing and has coil, contact and register in it. When the coil is On and the estimated time is reached, its contact will be enabled (contact A closed, contact B open). Every timer has its fixed timing period (unit: 1ms/10ms/100ms). Once the coil is Off, the contact iwlwl Timer be disabled (contact A open, contact B closed) and the present value on the timer will become “0”. (cid:38) Device indication: T0, T1,…,T255 are indicated as T and numbered in decimal form. Different No. refers to different timing period. The counter is used for counting. Before using the counter, you have to give the counter a set value (i.e. the number of pulses for counting). There are coil, contact and registers in the counter. When the coil goes from Off to On, the counter will regard it as an input of 1 pulse and Counter the present value on the counter will plus “1”. We offer 16-bit and 32-bit high-speed counters for our users. (cid:38) Device indication: C0, C1,…,C255 are indicated as C and numbered in decimal form. Data processing and value operations always occur when the PLC conducts all kinds of sequential control, timing and counting. The data register is used for storing the values or all Data register kinds of parameters. Every register is able to store a word (16-bit binary value). Double words will occupy 2 adjacent data registers. (cid:38) Device indication: D0, D1,…,D11999 are indicated as D and numbered in decimal form. The file register is used for storing the data or all kinds of parameters when the data registers File register required for processing the data and value operations are insufficient. Every file register is able to store a 16-bit word. Double words will occupy 2 adjacent file registers. In SA/SX/SC series DVP-PLC Application Manual 1-5