Documente Academic
Documente Profesional
Documente Cultură
Intelligent Platforms
DURUS Controllers
System Manual, GFK-2470A
May 2011
GFL-002
Caution
Caution notices are used where equipment might be damaged if care is not taken.
Note:
This document is based on information available at the time of its publication. While efforts
have been made to be accurate, the information contained herein does not purport to cover all
details or variations in hardware or software, nor to provide for every possible contingency in
connection with installation, operation, or maintenance. Features may be described herein
which are not present in all hardware and software systems. GE Intelligent Platforms assumes
no obligation of notice to holders of this document with respect to changes subsequently made.
GE Intelligent Platforms makes no representation or warranty, expressed, implied, or statutory
with respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or
usefulness of the information contained herein. No warranties of merchantability or fitness for
purpose shall apply.
* indicates a trademark of GE Intelligent Platforms, Inc. and/or its affiliates. All other
trademarks are the property of their respective owners.
Copyright 2011 GE Intelligent Platforms, Inc.
All Rights Reserved
Contact Information
If you purchased this product through an Authorized Channel Partner, please contact the seller
directly.
http://www.ge-ip.com/support
Additional information
http://www.ge-ip.com/
Solution Provider
solutionprovider.ip@ge.com
Technical Support
If you have technical problems that cannot be resolved with the information in this guide, please
contact us by telephone or email, or on the web at www.ge-ip.com/support.
Americas
Online Technical Support
www.ge-ip.com/support
Phone
1-800-433-2682
support.ip@ge.com
customercare.ip@ge.com
English
www.ge-ip.com/support
Phone
+800-1-433-2682
support.emea.ip@ge.com
customercare.emea.ip@ge.com
Asia Pacific
Online Technical Support
www.ge-ip.com/support
Phone
+86-400-820-8208
+86-21-3217-4826 (India, Indonesia, and Pakistan)
support.cn.ip@ge.com (China)
support.jp.ip@ge.com (Japan)
support.in.ip@ge.com (remaining Asia customers)
customercare.apo.ip@ge.com
customercare.cn.ip@ge.com (China)
iii
GFK-2470A
Contents
QuickStart Guide: Getting Started with DURUS ......................................................... 0-1
Introduction.................................................................................................................... 1-1
Overview of DURUS Controller Modules .......................................................................... 1-2
General Specifications ............................................................................................. 1-3
Functional Specifications ......................................................................................... 1-4
I/O Specifications ..................................................................................................... 1-5
Controllers and Expansion Modules ................................................................................. 1-7
DURUS Controller Module Identification.................................................................. 1-7
DURUS-10 Controllers ............................................................................................. 1-8
DURUS-12 Controllers ............................................................................................. 1-8
DURUS-20 Controllers ............................................................................................. 1-9
DURUS-24 Controllers ............................................................................................. 1-9
I/O Expansion Option Modules .............................................................................. 1-10
Communications Option Modules .......................................................................... 1-10
Programming Software and Cables ....................................................................... 1-10
Accessories ............................................................................................................ 1-10
Comparison of DURUS Controller Features .......................................................... 1-11
Module Description ......................................................................................................... 1-13
Module Dimensions................................................................................................ 1-13
Programming Features ................................................................................................... 1-14
Programming Formats ........................................................................................... 1-14
Program Transfer ............................................................................................................ 1-16
Communications Features .............................................................................................. 1-17
MODBUS RTU ....................................................................................................... 1-17
Profibus-DP ............................................................................................................ 1-17
DeviceNet ............................................................................................................... 1-17
Data Link and Remote I/O .............................................................................................. 1-18
Data Link Operation ............................................................................................... 1-18
Remote I/O Operation ............................................................................................ 1-18
Installation...................................................................................................................... 2-1
Examination ...................................................................................................................... 2-1
Environmental Guidelines ................................................................................................. 2-2
External Protection Devices ..................................................................................... 2-3
Mounting Instructions ........................................................................................................ 2-3
DIN Rail Installation.................................................................................................. 2-5
Panel Mounting ........................................................................................................ 2-7
Connecting an Expansion Module ........................................................................... 2-7
Field Wiring ....................................................................................................................... 2-8
Power Wiring ............................................................................................................ 2-9
Over-Current Protection ........................................................................................... 2-9
Field Wiring for 12-Point and 20-Point, 12/24VDC Input Modules......................... 2-10
Field Wiring for Analog Expansion Module ............................................................ 2-10
Sensor Wiring ......................................................................................................... 2-11
GFK-2470A
Contents
Field Wiring for 10-Point and 20-Point, 24VAC or 100/240VAC Modules ............. 2-11
Relay Output Wiring ............................................................................................... 2-11
Transistor Output Wiring ........................................................................................ 2-12
I/O Link or Remote I/O Wiring ................................................................................ 2-12
Precautions for Operation ............................................................................................... 2-12
GFK-2470A
Contents
Negative Input Differential (One-Shot) ................................................................... 4-45
SET Output (Latch) ................................................................................................ 4-46
RESET Output (Unlatch) ........................................................................................ 4-47
Pulse Output (Flip/Flop) ......................................................................................... 4-48
Function Blocks............................................................................................................... 4-49
Counters ................................................................................................................. 4-49
Timers .................................................................................................................... 4-64
Real Time Clock Instructions ................................................................................. 4-80
Compare Functions ................................................................................................ 4-93
MODBUS Functions ............................................................................................... 4-99
GFK-2470A
Contents
vii
Contents
Enter or Edit an Instruction..................................................................................... 6-17
Using the Ladder Logic Software in Keypad Mode ........................................................ 6-19
Button Functions in Keypad Mode ......................................................................... 6-19
Using the Computer Keyboard for Keypad Operations ......................................... 6-20
viii
GFK-2470A
Contents
GFK-2470A
Contents
ix
Contents
GFK-2470A
Contents
Durus Controller Extended Object ....................................................................... 11-21
Instance Service ................................................................................................... 11-25
GFK-2470A
Contents
xi
This chapter provides a simple guide to connecting, programming, installing and operating your new
DURUS controller. It is not intended to provide complete instructions for programming and installing
the system. Many steps refer to other sections in the manual for more detailed information.
GFK-2470A
Quick Start-1
3. Select the correct Com Port number where the programming cable is connected to the computer,
then press the Link button.
The DURUS Controller will begin to detect the connected smart relay to complete its connection.
Quick Start-2
GFK-2470A
Note:
If the ladder toolbar is not visible at the bottom of the screen, select View>>Ladder Toolbar
from the menu to enable.
GFK-2470A
Quick Start-3
2. Use the A key on your keyboard (or the A icon on the ladder toolbar) to draw the horizontal
circuit line from the M contact to the right most cell, as shown below.
3. Select the Q coil icon from the ladder toolbar and drop it on the right most cells. Select Q01
from the dialog and press OK as shown below. See Chapter 4, Function Blocks for complete
instruction set definitions.
Quick Start-4
GFK-2470A
4. Test the simple program. From the Operation menu, select the Write function and write the
program to the connected smart relay as shown below.
5. Select the RUN icon from the toolbar, and select No when the pop-up message asks Do you
want to read program from module?, as shown below.
GFK-2470A
Quick Start-5
6. On the Input Status dialog, click on M01 to activate the contact M01 which will turn ON the
Output Q01 as shown below. The highlighted circuit will show active and the first Output (Q01)
on the connected smart relay will be ON. See Chapter 6, Software Operation in Ladder Logic
Mode or Chapter 8, Software Operation in Function Block Mode for more detailed software
information.
Quick Start-6
GFK-2470A
Chapter Introduction
This chapter describes the DURUS controller family of products. It lists the available modules, and
gives their specifications.
Chapter 2, Installation, describes module installation and wiring.
Chapter 3, Transferring Programs, explains how to set up a DURUS controller to transfer
programs and data with a Memory Option Module or programmer.
Chapter 4, Program Functions, defines the coils, contacts, logic blocks, and function blocks that
can be used in an application program.
Chapter 5, Keypad Operations in Ladder Logic Mode, explains how to navigate the controller
LCD screens and make changes using the keypad, in Ladder Logic mode.
Chapter 6, Software Operation in Ladder Logic Mode, explains how use the programming
software for programming, simulation, and emulation in Ladder Logic mode.
Chapter 7, Keypad Operations in Function Block Diagram Mode, explains how to navigate the
controller LCD screens and make changes using the keypad, in Block Diagram mode.
Chapter 8, Software Operations in Function Block Diagram Mode, explains how use the
programming software for programming, simulation, and emulation in Block Diagram mode.
Chapter 9, MODBUS Communications, describes the MODBUS features that can be incorporated
into a DURUS controller system.
Chapter 10, Profibus Communications, describes how a Profibus-DP Expansion Module can be
used to add Profibus slave communications to a DURUS controller.
Chapter 11, DeviceNet Communications, describes how a DeviceNet Expansion Module can be
used to add DeviceNet slave communications to a DURUS controller.
Appendix A, Application Examples, provides sample applications for DURUS controllers.
GFK-2470A
1-1
1-2
GFK-2470A
General Specifications
Item
Installation
Environmental
Specifications
Specification
Enclosure Type
IP20
Installation method
Mounting Orientation
Operation temperature
Storage temperature
Maximum humidity
Maximum vibration
1G according to IEC60068-2-6
Vibration
Shock
IEC60068-2-27 standard
15g peak, 11ms duration
EMI/EMC
Maximum
Noise
Weights
Agency Approvals
UL, C-UL, CE
Certification by Underwriter's Laboratories to UL508 and CSA
C22.2 No 142 - M1987
CE Mark Declaration of Conformity to EMC and Low Voltage
Directives
Dimension
GFK-2470A
Chapter 1 Introduction
1-3
Item
Specification
Power Supply
Input Power Voltage Range
Power Consumption
24VDC:
12-point: 125mA
20-point: 185mA
12VDC:
12-point: 195mA
20-point: 265mA
100240VAC:
24VAC:
100mA
290mA
14 AWG (2.08mm2)
Backlight life
Functional Specifications
Programming
Programming languages
Program Memory
Flash
Execution Speed
10ms/cycle
LCD Display
4 lines x 16 characters
Timers
Maximum Number
Timing ranges
Counters
Maximum Number
Highest count
999999
Resolution
Resolution
1 minute
Compare Instructions (Analog, Analog*gain + Offset, Timer, Counter, Temperature Input (AT), Analog Output
(AQ), AS, MD, PI, MX, AR and DR Values)
Maximum Number
1-4
GFK-2470A
I/O Specifications
Discrete Inputs
Current consumption
4mA @12VDC
3.2mA @24VDC
1.3mA @100-240VAC
3.3mA @ 24VAC
Input On Delay
GFK-2470A
24VAC: 3ms
NPN, 3-wire device only
1kHz
< 40 Hz
Inverse voltage protection required
Controller: 12 bit
Expansion Module: 12 bit
Controller:
Analog input: 0-10VDC,
24VDC when used as discrete input
Expansion Module: Analog input 0-10VDC voltage or
020mA current
< 5VDC (as 24VDC discrete input)
> 9.8VDC (as 24VDC discrete input)
None
Yes
In Controller: A1 to A4
In Expansion Module: A5 to A8
Chapter 1 Introduction
1-5
1
Relay Outputs
Contact material
Current rating
HP rating
Maximum Load
Maximum operating time
Life expectancy (rated load)
Minimum load
Transistor Outputs
PWM max. output frequency
Standard max. output frequency
Voltage specification
Current capacity
Maximum Load
Minimum Load
1-6
Ag Alloy
8 Amp
1/3HP@120V 1/2HP@250V
Resistive: 8A/point
Inductive: 4A/point
15ms (normal condition)
100k operations
16.7mA
0.5kHz (1ms on, 1ms off)
100Hz
10-28.8VDC
1A
Resistive: 0.5A/point
Inductive: 0.3A/point
0.2mA
GFK-2470A
Versions 3.x and later series support a maximum of nine expansion units.
The analog input and communication modules must be connected to the far right side of all
expansion modules.
DAR
010
Controller Type:
D = Expandable, with LCD/Keypad
B = Expandable, without LCD/Keypad
N = Not expandable; without LCD/Keypad.
No cover
Power Source:
A = 24VAC
D = 12VDC
Output Type:
R = Relay
D = Transistor
GFK-2470A
Chapter 1 Introduction
1-7
DURUS-10 Controllers
Part Number
Description
IC210DAR010
IC210BAR010
IC210NAR010
DURUS-12 Controllers
Part Number
Description
IC210DAR012
12 points, 24VAC Power Source, (8) 24VAC in /(4) out (Relay 8 Amp),
Expandable, with LCD/Keypad
IC210DDR112
12 points, 12VDC Power Source, (6) 12VDC in /(4) out (Relay 8 Amp), (2) analog
inputs, Expandable, with LCD/Keypad
IC210DDR012
12 points, 24VDC Power Source, (6) 24VDC in /(4) out (Relay 8 Amp), (2) analog
inputs, Expandable, with LCD/Keypad
IC210BDR012
12 points, 24VDC Power Source, (6) 24VDC in /(4) out (Relay 8 Amp), (2) analog
inputs, Expandable, with LCD/Keypad
IC210NDR012
12 points, 24VDC Power Source, (6) 24VDC in /(4) out (Relay 8 Amp), (2) analog
inputs, Not Expandable and without LCD/Keypad. No cover.
IC210DDD012
12 points, 24V DC Power Source, (6) 24VDC in/(4) out (Transistor), (2) analog
inputs, Expandable, with LCD/Keypad
IC210BDD012
12 points, 24VDC Power Source, (6) 24VDC in/(4) out (Transistor), (2) analog
inputs, Expandable, with LCD/Keypad
IC210NDD012
12 points, 24VDC Power Source, (6) 24VDC in/(4) out (Transistor), (2) analog
inputs, Not Expandable and without LCD/Keypad. No cover.
1-8
GFK-2470A
1
DURUS-20 Controllers
Part Number
Description
IC210DAR020
20 points, AC Power Source, (12) AC in/8 out (Relay, 8 Amp), Expandable, with
LCD/Keypad
IC210BAR020
20 points, AC Power Source, (12) AC in/8 out (Relay, 8 Amp), Expandable, with
LCD/Keypad
IC210NAR020
20 points, AC Power Source, (12) AC in/8 out (Relay, 8 Amp), Not Expandable,
without LCD/Keypad. No cover.
DURUS-24 Controllers
Part Number
Description
IC210MDR124
24 points, 12V DC Power Source, (12) 12VDC in/8 out (Relay, 8 Amp), (4) analog
inputs, Expandable, with LCD/Keypad. Includes an RS-485, two-wire serial port.
IC210DDR024
24 points, 24V DC Power Source, (12) 24VDC in/8 out (Relay, 8 Amp), (4) analog
inputs, Expandable, with LCD/Keypad
IC210BDR024
24 points, 24V DC Power Source, (12) 24VDC in/8 out (Relay, 8 Amp), (4) analog
inputs, Expandable, without LCD/Keypad
IC210NDR024
24 points, 24V DC Power Source, (12) 24VDC in/8 out (Relay, 8 Amp), (4) analog
inputs, not expandable, without LCD/Keypad. No cover.
IC210DDD024
24 points, 24V DC Power Source, (12) 24VDC in/(8) out (Transistor), (4) analog
inputs, Expandable, with LCD/Keypad
IC210BDD024
24 points, 24V DC Power Source, (12) 24VDC in/(8) out (Transistor), (4) analog
inputs, Expandable, without LCD/Keypad
IC210NDD024
24 points, 24V DC Power Source, (12) 24VDC in/(8) out (Transistor), (4) analog
inputs, not expandable, without LCD/Keypad. No cover.
IC210MDR024
24 points, 24V DC Power Source, (12) 24VDC in/8 out (Relay, 8 Amp), (4) analog
inputs, Expandable, with LCD/Keypad. Includes an RS-485, two-wire serial port.
IC210MDD024
24 points, 24V DC Power Source, (12) 24VDC in/(8) out (Transistor), (4) analog
inputs, Expandable, with LCD/Keypad. Includes an RS-485, two-wire serial port.
GFK-2470A
Chapter 1 Introduction
1-9
1
I/O Expansion Option Modules
Part Number
Description
IC210EAR008
Expansion module, 120/230VAC Power Source, (4) AC in/(4) out (Relay, 8 Amp)
IC210EAR208
Expansion module, 24VAC Power Source, (4) 24VAC in/(4) out (Relay, 8 Amp)
IC210EDR008
Expansion module, 24VDC Power Source, (4) 24VDC in/(4) out (Relay, 8 Amp)
IC210EDD008
Expansion module, 24VDC Power Source, (4) 24VDC in/(4) out (Transistor)
IC210EAI004
Analog expansion module, 24VDC power source, (4) Analog input Voltage or
Current
IC210EAO002
Analog expansion module, 24VDC power source, (2) Analog out 010VDC or
020mA
Description
IC210EMS001
IC210EPS001
IC210EDS001
Description
IC646DUR001
IC646DUR101
IC210CBL001
IC210CBL002
Accessories
Part Number
IC210TMP001
1-10
Description
DURUS Portable Memory Pack
GFK-2470A
1
Comparison of DURUS Controller Features
Part Number
IC210DAR010
Power
Source
85
265VAC
85
265VDC
85
265VAC
85
265VDC
85
265VAC
85
265VDC
24VAC
IC210DDR112
12VDC
IC210DDR012
24VDC
IC210BDR012
24VDC
IC210NDR012
24VDC
IC210DDD012
24VDC
IC210BDD012
24VDC
IC210NDD012
24VDC
IC210DAR020
IC210DDR024
85
265VAC
85
265VDC
85
265VAC
85
265VDC
85
265VAC
85
265VDC
24VDC
IC210BDR024
24VDC
(12) 24VDC
IC210NDR024
24VDC
(12) 24VDC
IC210DDD024
24VDC
(12) 24VDC
IC210BDD024
24VDC
(12) 24VDC
IC210NDD024
24VDC
(12) 24VDC
IC210DAR010
IC210BAR010
IC210NAR010
IC210BAR020
IC210NAR020
GFK-2470A
Discrete
Outputs
(4) Relay,
8-amp
(6) AC or DC
(4) Relay,
8-amp
Yes
No
Yes
(6) AC or DC
(4) Relay,
8-amp
Yes
No
No
Yes
No
No
Yes
Yes
Yes
1KHz in
Yes
Yes
Yes
1KHz in
Yes
No
Yes
1KHz in
Yes
No
No
1KHz in
Yes
Yes
Yes
Yes
No
Yes
Yes
No
No
1KHz in,
PWM Out
1KHz in,
PWM Out
1KHz in,
PWM Out
Yes
Yes
Yes
Yes
No
Yes
Yes
No
No
Yes
Yes
Yes
1KHz in
Yes
No
Yes
1KHz in
Yes
No
No
1KHz in
Yes
Yes
Yes
Yes
No
Yes
Yes
No
No
1KHz in,
PWM Out
1KHz in,
PWM
1KHz in,
PWM
(8) 24AC
(4) Relay,
8-amp
(6) 12VDC
(4) Relay,
8-amp
(6) 24VDC
(4) Relay,
8-amp
(6) 24VDC
(4) Relay,
8-amp
(6) 24VDC
(4) Relay,
8-amp
(6) 24VDC
(4) 24VDC
(Transistor)
(6) 24VDC
(4) 24VDC
(Transistor)
(6) 24VDC
(4) 24VDC
(Transistor)
(12) AC or DC (8) Relay,
8-amp
(12) 24VDC
(8) Relay,
8-amp
(8) Relay,
8-amp
(8) Relay,
8-amp
(8) 24VDC
(Transistor)
(8) 24VDC
(Transistor)
(8) 24VDC
(Transistor)
Chapter 1 Introduction
Expandable
Yes
Motion
Discrete
Inputs
(6) AC or DC
1-11
1
Part Number
Power
Source
IC210MDR024 24VDC
Discrete
Inputs
(12) 24VDC
Discrete
Outputs
(8) Relay,
8-amp
IC210MDD024 24VDC
(12) 24VDC
(8) 24VDC
(Transistor)
IC210MDR124 12VDC
(12) 12VDC
(8) Relay, 8A
1-12
LCD
Key
Yes
Expandable
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Motion
1KHz in,
Modbus
Slave
1KHz in,
PWM and
Modbus
Slave
1KHz in,
Modbus
Slave
GFK-2470A
Module Description
1. Power Supply terminals
2. LCD display
3. Input terminals
4. Retractable mounting feet
5. DELete key
6. SELect key
7. Arrow keys
8. OK key
9. ESCape key
10. Communications port for computer or Memory
Option module
11. Output terminals
DURUS controllers provide a custom operator interface through their LCD and keypad. Up to 31
unique screen displays can be created for each application program. Operators can monitor timers,
counters, and other system functions. In Run mode, operators can edit the Preset Value of a Timer,
Counter, or Compare instruction. To prevent unauthorized access, the program can be protected
using a password. Displays can include information such as timer and counter values, operator
messages,
Module Dimensions
GFK-2470A
Chapter 1 Introduction
1-13
Programming Features
Programs can be created using the programming software or directly in the controller, using the
keypad and LCD.
Programming Formats
DURUS Controllers provide two different programming formats, ladder logic and function block
diagram.
1-14
GFK-2470A
PWM output
Add-Subtract
Multiply-Divide
PID
Multiplexer
Analog Ramp
Data Register
GFK-2470A
Chapter 1 Introduction
1-15
Program Transfer
Programs can be easily stored and transferred between modules using the optional Memory Pack
(IC210TMP001). The same controller port can also be used for a cable connection to a computer
RS-232 port.
Controller and Memory Pack
1-16
GFK-2470A
Communications Features
DURUS controllers provide the communications features listed below.
MODBUS RTU
DURUS controllers with built-in RS-485 ports can communicate with a controller or other device
using MODBUS RTU slave protocol.
DURUS controllers that do not have built-in RS-485 ports can implement MODBUS RTU
communications via a MODBUS RTU Slave Communications Expansion Module, 24VDC
(IC210EMS001). This module provides an RS-485 interface with communications rates up to
57,600bps.
Chapter 9 describes the MODBUS RTU features provided by this module.
Profibus-DP
Chapter 10 describes the Profibus-DP features that can be incorporated into a DURUS controller
system by including a Profibus-DP Slave Communications Expansion Module, 24VDC
(IC210EPS001).
The Profibus-DP Slave Communications Expansion Module, 24VDC (IC210EPS001) always
operates as network slave.
The GSD file can set up five different operating modules:
Read / write 14 bytes:
Read 7 bytes:
Coils (I, X, Q, Y)
Read 2 bytes :
Coils (M)
Write 2 bytes:
Coils (M)
Write 3 bytes:
Coils (Q, Y)
DeviceNet
Chapter 11 describes the DeviceNet features that can be incorporated into a DURUS controller
system by including a DeviceNet Slave Communications Expansion Module, 24VDC
(IC210EDS001).
The DeviceNet Slave Communications Expansion Module operates as a DeviceNet Group II Only
Slave device, interfacing the DURUS controller to a DeviceNet communications bus. If a DeviceNet
Communications Expansion Module is installed in the controller, it must be the only communications
module present.
GFK-2470A
Chapter 1 Introduction
1-17
ID =0
ID =1
8 9
ID =7
16
57
64
W Memory
Each controller on the Data Link network writes 8 bits of data to a specific area of W memory.
Coil Type
Function Mode
Coil Number
Select Address (Number of bits to
be masked)
From (Node data)
To (Mapped data from Node)
Each controller can read the W memory areas of the other controllers.
Master
1-18
Slave
GFK-2470A
Chapter Installation
This chapter describes the basic installation steps for DURUS controller modules:
Installation Environment
Mounting Instructions
Field Wiring
WARNING
Compliance with the installation instructions and other information in this user
manual is absolutely necessary. Failure to comply could lead to improper
operation, equipment damage, or in extreme cases, even death, serious bodily
injury, or damage to property.
Examination
Every DURUS controller is tested and examined before shipment.
After unpacking the DURUS controller module, check to be sure that the model number matches the
model number that was ordered. Look the module over for damage that may have occurred during
shipment. If there is any sign of damage, do not connect the DURUS controller to a power supply.
GFK-2470A
2-1
Environmental Guidelines
The environment should not have excessive dust, salty air or conductive materials (iron powder,
etc) that could cause internal short circuits.
The controller should not be installed where it will be exposed to direct sunlight.
Avoid excessive vibration. If vibration cannot be avoided, an anti-rattle mounting device should
be installed to reduce vibration.
Locate the PLC equipment as far away from high voltage equipment and power generation
equipment as possible.
2-2
When installing models with no cover, ensure that no wiring or foreign materials can fall onto the
exposed circuits and components. Damage to equipment, fire, or damage to property could
result.
GFK-2470A
Emergency-Stop circuit
Protection circuit
Mounting Instructions
The wiring for a DURUS controller is open and exposed. For models with no cover, all electrical
components are exposed. It is required that the DURUS controller be installed in an enclosure or
cabinet to prevent accidental contact or exposure to the electrical circuits and components.
For improved EMI/EMC performance and to meet the requirements for CE Marking, the Durus
modules are to be mounted within an RF protected enclosure with wiring not to exceed three meters.
External wiring to the enclosure is to be routed through metal conduit.
Durus modules are to be installed by trained professionals for use only in industrial environments.
DURUS modules can be mounted on a DIN rail, or panel-mounted for greater resistance to
mechanical vibration and shock. Modules must be mounted in an upright position on a vertical
surface or horizontal DIN rail. The diagrams below show correct mounting orientation. Modules must
not be mounted on a horizontal surface or in a rotated orientation.
Always disconnect power before wiring, connecting, installing, or removing any module.
GFK-2470A
Chapter 2 Installation
2-3
2-4
GFK-2470A
To add an expansion module (with the expansion connector installed), press the latch on the
expansion module and slide it on the DIN rail to connect it to the master unit.
Connector
DC 24V
I1
I2
I3
I4
I5
I6 A1 A2
Input 8 x DC(A1,A2 0
~ 10V)
Input X1 X2 X3 X4
4 AC
L
Latch
AC 100~240V
Run
Output 4 x Relay / 8A
Output 4 x Relay / 8A
Y1
Y2
DIN Rail
Q1
GFK-2470A
Q2
Q3
Q4
Chapter 2 Installation
Y3
Y4
2-5
Mounting Clamps
For modules installed on a DIN rail, mounting clamps should be installed at each end of the
equipment to hold it in place.
Mounting Clamp
DIN Rail
2-6
GFK-2470A
Panel Mounting
For panel mounting, extend the modules retractable mounting tabs and use M4 screws to mount the
unit on the panel as shown below.
Latch
+ DC 24V
I1 I2 I3 I4 I5 I6 A1 A2
Input X1 X2 X3 X4
4AC
N AC 100~240V
Run
Output 4 x Relay / 8A
Output 4 x Relay / 8A
Q1
Q2
Y1
Q3
Q4
Y3
Y2
Y4
Connector
GFK-2470A
Chapter 2 Installation
2-7
Field Wiring
The I/O signal wires must not be routed parallel to power wires or high-current wires, or located
in the high-current cable trays to prevent signal interference.
Use appropriate fusing between output terminals and loads to avoid short circuits on the load
side.
CAUTION
Improper wiring and installation can lead to death, serious bodily injury or damage to property.
The DURUS controller should only be installed and wired by properly experienced and certified
personnel.
Be sure that the wiring of the DURUS controller meets all applicable regulations and codes
including local and national standards and codes.
Always separate AC wiring, DC wiring with high-frequency switching cycles, and low-voltage
wiring.
2-8
GFK-2470A
Power Wiring
Always disconnect power before wiring, connecting, installing, or removing any module.
Connect power to the DURUS Controller as shown below.
Over-Current Protection
DURUS modules do not include internal protective fusing for outputs. External fusing should be
installed between the each power source and load.
GFK-2470A
Chapter 2 Installation
2-9
(1)
(2)
Fuse (2A)
Surge absorber (36V DC)
2-10
GFK-2470A
Sensor Wiring
Use 3-wire, PNP only.
(1)
(3)
Fuse (2A)
Surge absorber (400V AC)
(4)
GFK-2470A
Chapter 2 Installation
2-11
2
Transistor Output Wiring
The power supply and the I/O supply must share the same power source.
Termination (6) should be added at the first and last device on a multidrop link. Only short-circuit
the first and the last modules.
2-12
GFK-2470A
This chapter explains how to transfer programs using a programming cable or optional Memory
Option module.
The Memory compartment on the front of a Durus controller module provides a port for transferring
application programs. The compartment can be used for either a Memory Option module
(IC210TMP001) or a programmer cable (IC210TCM001).
The same controller port can also be used for a cable connection to a computer RS-232 port.
Controller and Memory Pack
GFK-2470A
3-1
From the display keypad on the face of the Durus controller, select either WRITE (to the
Memory module) or READ (from the Memory module) to transfer the program to or from the
Memory module.
For modules with no keypad or display (catalog numbers starting with IC210Nxxxxx), when
power is applied to the controller, the program in the Memory module is automatically
downloaded and executed.
4. Remove power to the controller, and take the Memory module out of the controller port.
5. The Memory Pack can now be used to copy the same program to a compatible DURUS
controller. Power to the controller must be OFF when installing or removing the Memory module.
3-2
AC controller to a DC controller
DC controller to an AC controller
GFK-2470A
2.1
2.1
MDD024
MDR024
NDD024
2.1
NAR020
BDD024
BAR020
DDD024
DAR020
NDR024
2.1
BDR024
DDR024
NAR010
2.1
BAR010
NDD012
DAR010
BDD012
DDR012
DDD012
Transfer
To
NDR012
Transfer
From
BDR012
Controller models without a keypad or display (catalog numbers IC200Nxxxxx) require version
2.1 or later firmware to receive programs from controllers with catalog numbers IC200Dxxxxx.
DDR012
BDR012
NDR012
DDD012
2.1
2.1
2.1
BDD012
NDD012
DAR010
2.1
2.1
2.1
2.1
2.1
2.1
2.1
2.1
2.1
2.1
2.1
2.1
2.1
BAR010
NAR010
DDR024
BDR024
NDR024
DDD024
BDD024
NDD024
2.1
2.1
2.1
2.1
2.1
2.1
DAR020
2.1
2.1
2.1
2.1
2.1
2.1
2.1
2.1
2.1
2.1
2.1
2.1
2.1
BAR020
NAR020
MDR024
MDD024
GFK-2470A
3-3
3-4
GFK-2470A
MDR024
NAR020
BAR020
DAR020
NDD024
BDD024
DDD024
NDR024
BDR024
DDR024
NAR010
BAR010
DAR010
NDD012
BDD012
DDD012
NDR012
BDR012
DDR012
Transfer
From
Transfer
To
DDR012
BDR012
NDR012
DDD012
BDD012
NDD012
DAR010
BAR010
NAR010
DDR024
BDR024
NDR024
DDD024
BDD024
NDD024
DAR020
BAR020
NAR020
MDR024
MDD024
GFK-2470A
3-5
3-6
GFK-2470A
This chapter describes the elements of ladder logic and block diagram application programs
for a DURUS Controller.
Programming Elements
Memory Usage in Function Block Mode
Contacts and Coils
Input Contacts
Keypad Inputs
Normal Outputs
Auxiliary Relays
Timers and Timer Status Bits
Counters and Counter Status Bits
Positive Input Differential Instruction
Negative Input Differential Instruction
PWM Output
HMI Instruction
Datalink / Remote I/O
Shift
GFK-2470A
Logic Blocks
AND
AND (Edge)
NAND
NAND (Edge)
OR
NOR
XOR
NOT
Pulse
Set / Reset
Function Blocks
Counters
Timers
Real-Time Clock Instructions
Compare Functions
PWM Output Instruction
HMI Instructions
Datalink / Remote I/O
MODBUS Functions
4-1
Programming Elements
General SET RESET Pulse
N.O
N.C. Analog Analog
Output Output Output Output Contact Contact Input Output
-[
()
()
Quantity
and
Designations
(P)
Input Contact
12 (I1IC /
i1iC)
Keypad Inputs
4 (Z1Z4)
Expansion Input
Contact
12 (X1XC /
x1xC)
Auxiliary Contact
15 (M1MF /
m1mF)
Output Coil
8 (Q1Q8 /
q1q8)
12 (X01X0C/
x01x0C)
Expansion Output
Coil
12 (Y1YC /
y1xC)
31 (C1C1F /
c1c1F)
31 (T1T1F /
t1t1F)
D
positive
d
negative
Counter
Timer
Differential (oneshot)
RTC
31 (R01R1F /
r01r1F)
Analog Comparator
31 (G01G1F /
g01g1F)
HMI
31 (H0H1F)
PWM, PLSY
2 P01P02)
DATA-LINK
8 (L01L08)
SHIFT
1 (S01)
Analog Input
8 (A01A08)
Analog Input
Parameter
8 (V01V08)
AT
4 (T01T04)
Temperature Input
Analog Output
AQ
4 (AQ01
AQ08)
Add-Subtract
AS
AS
31 (AS0
AS1F)
Multiply-Divide
MD
MD
31 (MD01
MD1F)
PID
PID
PID
15 (PID01
PID0F)
Data Multiplexer
MX
MX
15 (MX01
MX1F)
Analog Ramp
AR
AR
15 (AR01
AR0F)
Data Register
DR
DR
240 (DR01
DRF0)
4-2
GFK-2470A
Timer
Counter
RTC
Comparator
Analog
Comparator
Total Memory
99
31
31
31
31
Logic Block
Timer Mode 06
Timer Mode 7
Counter Mode 08
RTC Mode 04
Compare Mode 08
1
1
1
GFK-2470A
4-3
Digital outputs are assigned to Q memory. Depending on the controller model, the number of
digital Q output points is either 4 or 8.
4-4
GFK-2470A
4
Normal Outputs
8 digital output points are available. Expansion outputs are assigned to Y memory.
OFF
OFF
ON
OFF
ON
OFF
I1 [Q1
Software Example:
GFK-2470A
4-5
4
Auxiliary Relays (M Memory)
Auxiliary relays are digital internal memory bits used to control a ladder logic program. The
auxiliary relays are not physical inputs or outputs that can be wired to any external device;
switches, sensors, relays, lamps, etc. The controller provides 63 Auxiliary Relays.
Because auxiliary relays are internal bits in the CPU, they can be programmed as digital inputs
(contacts) or digital outputs (coils). In the first rung of this example, auxiliary relay M01 is being
used as an output coil. It will energize when input I02 turns on. In the second rung, auxiliary
relay M1 is being used as an input and when energized, it will turn on outputs Q02 and Q03.
4-6
GFK-2470A
4
The state of auxiliary relays M01M3F will be retained if M Keep is active when the controller
powers down. M Keep can be set by the two ways below.
GFK-2470A
4-7
4
Timers and Timer Status Bits (T Memory)
Timer Status Bits are assigned to T memory. Each Timer Status Bit shows the relationship
between the timers Preset Value and its Current Value. A Timer Status bit is set to 1 when the
Current Value is equal to or greater than the Preset Value.
In this example, when input I3 turns on, timer T1 will start. If the timer is configured as an On
Delay timer, when the timer reaches the preset of 5 seconds, timer status contact T1 turns on.
When T1 turns on, output Q4 turns on. Turning off I3 will reset the timer.
4-8
GFK-2470A
4
PWM Output Instruction
DURUS controllers with DC transistor outputs can provide Pulse-Width Modulated (PWM)
outputs on terminals Q1 and Q2. The PWM instruction can output up to eight stages. It also
provides a PLSY (Pulse) output on Q1. The pulse number and frequency of the PLSY output
can be changed.
PWM Mode
P01 and P02 both can work under this mode. Each PWM has eight group preset stages that
contain Width and Period. The eight group preset value can be constant or other data code.
The stage can be changed when the PWM is running, then the output pulse changes. Each
PWM has 10 parameters for proper configuration. The table below describes each
configuration parameter, and lists each compatible memory type for configuring PWM.
Symbol
Description
Enable
Select3
Select2
Select1
Stage
Output PWM
OFF
OFF
ON
OFF
OFF
OFF
Preset stage 1
ON
OFF
OFF
ON
Preset stage2
ON
OFF
ON
OFF
Preset stage 3
ON
OFF
ON
ON
Preset stage 4
Current number of
pulses (0)
ON
ON
OFF
OFF
Preset stage5
ON
ON
OFF
ON
Preset stage 6
ON
ON
ON
OFF
Preset stage7
ON
ON
ON
ON
Preset stage8
GFK-2470A
4-9
4
Ladder Diagram Format for the PWM Instruction
In the following example, the stage can be changed when P01 is running by changing the
values of M01, M02 and M03. Parameter displays the current number of pulses when P01
is running, but equals 0 when P01 is disabled.
Enable Input
Shift Input
4-10
GFK-2470A
PLSY Mode
Only P01 functions in this mode; the output is Q01. PLSY has six configuration parameters.
Symbol
Description
The preset frequency and pulse number could be constant or other data code (C01). They are
variable if the preset are other data code. The PLSY will stop output when it has output the
number of pulses specified by parameter . PLSY will run again if it is enabled for a second
time.
In the example below, the frequency is other data code (C01), so the waves frequency will
change following the current value of C01. Frequency is 1000 if the current value of C01 is
greater than 1000. So, pulse number is the same. If the current value of preset other data is
greater than its upper limit, it equals its upper limit.
GFK-2470A
4-11
4
HMI Instructions
The DURUS controller provides up to 31 HMI instructions that can be used in a program. Each
HMI instruction can be used to set up a custom 4-line by 16-character display on the
controllers LCD screen. Displays can include information such as timer and counter values,
input and output status, and text. There are three kinds of text in HMI. They are Multi
Language, Chinese (fixed) and Chinese (edit), Multi Language is shown in the example.
In Run mode, the Target Value of a Timer, Counter, or Compare instruction can be edited
using HMI.
Each HMI instruction is configured separately using the EditHMI/Text menu selection from
the client software. In the following example, HMI instruction H1 is configured to display the
value T01, and some descriptive text.
Note: A phone number can be displayed on the screen to alert an operator to call for help.
The phone number field does not dial a modem or allow for a modem connection.
4-12
GFK-2470A
4
Each HMI instruction has a choice of two operation modes, described in the table below.
Symbol
Description
Display mode
1: Display
2: No Display
The Chinese (fixed) and Chinese (edit) characters are shown below. The total number of
Chinese (edit) characters is 60.
GFK-2470A
4-13
4
HMI Function Instruction
The HMI can display the following information:
Character, built-in Chinese, user-defined Chinese and GSM telephone number. This
information cannot be edited through keypad.
Function current value (T, C, R, G and DR, used with or without units). This
information cannot be edited through keypad.
Preset value of function (T, C, R, G and DR). This information can be edited through
keypad.
State of coil (I, X, Z, M, AQ, AT and N (only FBD)). The state of M and N can be
edited through keypad.
HMI Status
1. HMI scanning state, press SEL at IO interface.
3. HMI edit preparing state, press SEL when HMI is scanning or running state, flicker
4-14
GFK-2470A
4
Keypad Instruction
ESC
Terminate operation
SEL
Under status 4, change data and number, function preset data; change coil state
(SEL+ )
GFK-2470A
OK
4-15
4
DATALINK/Remote I/O
The DATALINK function is available on 20-point transistor output models. It can be used to
connect up to eight additional units of the same type via the controllers RS-485 terminals (see
chapter 2). Each connected unit operates as an independent slave.
ID =0
ID =1
8 9
ID =7
16
57
64
W Memory
Each slave has its own application logic program and I/O linked to one master controller. Each
controller ID is associated with a set of eight I/O points in W memory.
Controller ID
Memory Location
W1W8
W9W16
W17W24
W25W32
W33W40
W41W48
W49W56
W57W64
Each controller module can write to its set of eight bits as shown above. Each module can
read any or all of the W data.
The baud rate and communication format can be set using the OperationModule System Set
menu selection from the client software. They can also be set using the keypad.
The two bytes of keypad data select the baud rate and communication format as described
below:
High byte:
0: 8, N, 2 (Modbus RTU Slave, 8bits data, no parity bit, 2 stop bits)
1: 8, E, 1 (Modbus RTU Slave, 8bits data, Even parity bit, 1 stop bits)
2: 8, O, 1 (Modbus RTU Slave, 8bits data, Odd parity bit, 1 stop bits)
3: 8, N, 1 (Modbus RTU Slave, 8bits data, no parity bits, 1 stop bits)
Low byte:
4-16
4800bps
9600bps
19200bps
38400bps
57600bps
115200bps
GFK-2470A
4
The following table lists, for different baud rates, the time required to transmit a byte, TB , and
the Receive-Complete timer period TC
4800bps
9600bps
19200bps
38400bps
57600bps
115200bps
2.29ms
1.15ms
0.57ms
0.29ms
0.19ms
0.10ms
7.5ms
4ms
2ms
1ms
1ms
1ms
B
C
Data Link
Up to eight additional units can be configured as independent Slave nodes, each running its
own logic program and with its I/O linked to one Master controller. The Master controllers ID
must be 00, and Slave nodes IDs should start with 01 and be continuous. If nodes IDs are not
continuous, the Master will not communicate with nodes that are after the first broken node.
For example, if the nodes IDs are 01, 02, 04 and 05. The Master thinks there are only two
Slave nodes with IDs 01 and 02, and communicates only with them.
V-type valid (20VR-D, 20VT-D)
Max. 8 points I/O sent per station
Max 78 (=56) points I/O received per station
ID must be set to 0,1,2 (Max. to 7). Max. 8 per station.
ID Set = 02
Remote I/O = S
ID Set = 01
Remote I/O = S
ID Set = 00
Remote I/O = M
16
37
64
GFK-2470A
4-17
4
Ladder Diagram Format for the DataLink / Remote I/O Function
Symbol
Note:
Description
Type
of Points
Range
Inputs
I01I0C
i01i0C
Outputs
Q01Q08
q01q08
Auxiliary Coil
M01M3F
m01m3F
Expansion
inputs
X01X0C
x01x0C
Expansion
outputs
Y01Y0C
y01y0C
Only the Mode 1 Send Data Link instruction (L01L08) is allowed per Master
controller. All other Data Link instructions must be Mode 2 Receive instruction.
4-18
Controller ID
Memory List
Location
W01W08
W09W16
W17W24
W25W32
W33W40
W41W48
W49W56
W57W64
GFK-2470A
4
Block Diagram Format for the Datalink / Remote I/O Function
Notes:
1. Only one unit can be set up for Send mode. That unit will operate as the Master. The other
units on the link must be set up for Receive mode, and will operate as the Slaves.
2. Set the send/receive points. Selectable points are:
3. In Receive mode, the memory range is determined by the controller ID and cannot be
changed.
Example 1, DATALINK Mode 1, Send Data
In this example, the Mode parameter is set to 1 (Send). Parameter 2, the Send/receive point,
is set to 5. Parameter 3 is set to start from I3, the state of actual sending terminal I3I7 is sent
to memory list; the controller ID = 3. For parameter 4, the state of corresponding memory list
position is W9W13- and relationship of sending terminal is as below:
The DATA LINK mode between Master and Slave nodes is Master reads W Table information
from each Slave in sequence, then broadcast the whole W Table to all of Slave nodes.
The Master reads W Table information from Slave one first whose ID is 01. The time required
for this operation is:
T
1S
GFK-2470A
4-19
4
Therefore, the time that the Master reads from each Slave is:
TiS is the scan time of Slave i. So TiR is the time that the Master reads from Slave i.
Therefore, the total time that the Master reads from n Slave nodes is:
The time of Master broadcasting is:
If the max ID of Slave node is less than 7, the time of DATA LINK is:
If the max ID is equal to 7, the time of DATA LINK is:
Data Link Communication Period, T
4-20
GFK-2470A
4
Remote I/O
Up to two additional units can be configured as Remote I/O nodes and linked to one master
controller.
The Master can run its programming, but the Slave cannot. The Master writes its state of
expansion output coil Y to the Slaves output coil Q. The Slave writes its state of input coil I to
the Masters expansion input coil X.
The time that the Master writes to the Slave is:
The time that the Slave writes to the Master is:
TS is the Slaves scan time; TM is the Masters scan time.
Do not use expansion DI/DO modules when the Remote I/O function is enabled.
GFK-2470A
4-21
4
Shift
Example Timing Diagram for the Shift Function
In this example, the Shift output type is Q, and the Shift Number is 5:
S HI F T 0 1
T YP E : Q
N U M: 5
4-22
GFK-2470A
4
AQ (Analog Output)
The DURUS controller provides four analog outputs, AQ01AQ04. The default Output Mode of
the analog outputs is 0-10V voltage, corresponding to a value of 0 in the Output Mode register.
The output modes of AQ01AQ04 are selected by the values of corresponding Output Mode
registers, DRD0-DRD3 as shown below.
OutputRegisters
Register
Mode Registers
Output Registers
Function
DRD0
DRD1
DRD2
DRD3
DRD4
DRD5
DRD6
DRD7
AQ Output Modes
Output Mode
Register Value*
AQ Output Mode
Output Range
01000
0500
01000
0500
GFK-2470A
4-23
4
AS (Add Subtract)
The DURUS controller provides 31 AS instructions that can be used throughout a program.
The ADD-SUB Addition and/or Subtraction function enables simple operations to be carried
out on integers. There are six parameters for configuration. The table below describes each
configuration parameter, and lists each compatible memory type for configuring AS.
Symbol
Description
AS code (AS01AS1F)
AS current value is the result of the computation shown in the following formula:
Formula: AS=V1+V2-V3
The table below describes detail information of each parameter of AS.
AS current value
Range: -3276832767, if the compute result is bigger than 32767, AS current value is
32767; And the same AS current value is -32768 if the compute result is less than 32768.
Operand V1V3
Range: -32767832767, they can be constant or other data code. The value of
decoding from other data code also follows the same rule as ASs current value.
The output coil will be set to 1 if an invalid value is calculated, or the result is overflow.
The Error output coil can be M, N or NOP. The output coil is set to when the wrong thing
happens if the output coil selects M or N, but it will do nothing if the output coil is NOP. The
output coil turns OFF when the result is right or the function is disabled. The current value has
no meaning when the output coil is ON.
4-24
GFK-2470A
4
Configuration Example for AS Function
GFK-2470A
4-25
4
MD (Multiply-Divide)
The DURUS controller includes a total of 31 MD instructions that can be used throughout a
program. The MUL-DIV Multiplication and Division function enables simple operations to be
carried out on integers. The table below describes the configuration parameters and lists each
compatible memory type for configuring MD.
Symbol
Description
MD code (MD01MD1F)
Range: -3276832767, if the compute result is bigger than 32767, MD current value is 32767;
and the same, MD current value is -32768 if the compute result is less than -32768.
Operand
V1V3
Range: -32767832767, they can be constant or other data code. The value of decoding from
other data code also follows the same rule as ASs current value.
Error Output
coil
The output coil will be set to 1 when the function yields an invalid result, V3 is 0, or the result is
overflow.
The Error output coil can be M, N or NOP. The output coil is set to when the wrong thing
happens if the output coil selects M or N, but it will do nothing if the output coil selects NOP.
The output coil turns OFF when the function produces a valid result or the function is disabled.
The current value has no meaning when the output coil is ON.
4-26
GFK-2470A
4
Configuration Example for MD Function
GFK-2470A
4-27
4
PID (Proportional-Integral-Differential)
The DURUS controller includes a total of 15 PID instructions that can be used throughout a
program. The PID function enables simple operations to be carried out on integers. There are
nine configuration parameters. The table below describes each configuration parameter, and
lists each compatible memory type for configuring PID.
Symbol
Description
measure value
sampling time
Proportion
Integral time
Differential time
PID current value is the result of compute. The parameters from to can be constant or
other data code. The value decoded from other data code must follow the rule of each
parameter. This means that parameter will be the maximum if the value decoded from other
data code is bigger than its maximum, and parameter will be the minimum if the value
decoded is less than its minimum. The table below describes detail information of each
parameter of PID.
PID
SV
PV
Ts
Kp
Ti
Td
Output coil
The Error output coil can be M, N or NOP. The output coil is set if the function yields an invalid
result, if the coil type is M or N, but it will do nothing if the coil type is NOP. The output coil
turns OFF when the function result is valid or the function is disabled. The current value has
no meaning when the output coil is ON.
4-28
GFK-2470A
4
Configuration Example for PID Function
MX (Multiplexer)
The DURUS controller includes a total of 15 MX instructions that can be used throughout a
program. This special function transmits 0 or one of 4 preset values to MX current value
memory. The MX function enables simple operations to be carried out on integers. There are
seven configuration parameters. The table below describes each configuration parameter, and
lists each compatible memory type for configuring MX.
Symbol
Description
Operation data 1: V0 (-3276832767)
Selection bit 1: S1
Selection bit 2: S2
MX code (MX01MX0F)
MX current value is the content of MX memory. The parameters from to can be constant
or other data code. The value decoded from other data code also must follow the rule of each
parameter. This means that parameter will be the maximum if the value decoded from other
data code is bigger than its maximum, and parameter will be the minimum if the value
decoded is less than its minimum.
GFK-2470A
4-29
4
Parameter Details for MX Function
Output MX
MX current value is one of the four parameters according the state of S1 and S2
when the function is enabled. MX current value is 0 when the function is disabled.
S1and S2
parameter
4-30
GFK-2470A
4
AR (Analog-Ramp)
The DURUS controller includes a total of 30 AR instructions that can be used throughout a
program.
AR Mode 1
In mode 1, the AR function enables simple operations to be carried out on integers. Analog
Ramp instruction allows AR current level to be changed by step from starting level to target
level at a specified rate. The table below describes each configuration parameter, and lists
each compatible memory type for configuring AR.
Symbol
Description
AR current value
Preset level 1
Preset level 2
Proportion (A)
Excursion (B)
AR code (AR01AR0F)
StSp
Rate
Excursion, range-1000010000
Sel
St
Selection stop coil. The Sts state becomes from 0 to 1 will startup the current
level decrease to start/stop level (StSp + excursion B), and then keep this
level for 100ms. Then AR current level is set to B, which will make AR current
value equal to 0.
GFK-2470A
4-31
4
AR will keep the current level at StSp + Offset "B" for 100ms when its enabled. Then the
current level runs from StSp + Offset "B" to selection level at enactment Rate. If St is set, the
current level decreases from current level to level StSp + B at enactment Rate. Then AR holds
the level StSp + Offset "B" for 100ms. After 100ms, AR current level is set to offset "B", which
makes AR current value equals 0.
Timing Diagram for AR Mode 1
4-32
GFK-2470A
4
AR Mode 2
In mode 2, four output levels can be preset. Only one of the four preset levels can be target
level. The current level will switch to target level at a rate designated by the user. There are 12
configuration parameters. The table below describes the parameters and lists compatible
memory types for configuring AR mode 2.
Symbol
Description
AR current value
Level 0: 032767
Level 1: 032767
Level 2: 032767
Level 3: 032767
AR mode
AR code (AR01AR0F)
MaxL
MaxL is used as target level if the selected level is bigger than MaxL.
Ta
The result of MaxL divided by Ta is the change rate from current level to target
level.
Output coil
The output coil turns ON when A is 0. The output coil can be M, N or NOP. If
the output coil is of type M or N, it will be set if the function yields an invalid
result, but it will do nothing if the output coil is NOP. The current value has no
meaning if the coil is set.
AR will vary from 0 to current level at the designated rate when its enabled. Then the current
level will change to a new level based on Sel1 and Sel2. When AR is disabled, current outputs
go to 0 immediately, as shown in the following timing diagram.
GFK-2470A
4-33
4
Timing Diagram for AR Mode 2
4-34
GFK-2470A
4
AR Mode 2 is displayed as follows in FBD mode:
FBD display
Parameter display
Program display
SEL+/
Enable Input
GFK-2470A
4-35
4
DR (Data-Register)
The DURUS controller includes a total of 240 DR instructions that can be used throughout a
program. The DR function is transferring data. When DR is enabled, it sends data from
prevention registers to current register. This means that DR is a temp register. It can be sign or
unsigned by setting the bit DR_SET through operation>>module system set menu selection
from the DURUS Client software. DR is signed if the DR_SET is ON, else DR is unsigned.
There are two parameters for proper configuration. The table below describes each
configuration parameter, and lists each compatible memory type for configuring DR.
Symbol
Description
DR code (DR01DRF0)
The parameter can be a constant or other data code. The value decoded from other data
code also must follow the rule of parameter range. This means that parameter will be the
maximum if the value decoded from other data code is bigger than its maximum, and
parameter will be the minimum if the value decoded is less than its minimum. The maximum
and the minimum is difference depending on DR_SET as shown in the table above.
Configuration Example for DR Function
4-36
GFK-2470A
4
The data registers from DR65 to DRF0 are retained when the DURUS powers down. The last
40 registers, DRC9 to DRF0, are used as shown below. The content of DRC9 is PLSYs
current number of pulses. DRCADRCD can be used to store temperature in Fahrenheit units
(-148 to 1112.0). DRD0DRD3 are the output mode registers of AQ01AQ04. DRE4DRE7
can be used to store the values of Analog input (current) A05 A08 (values in the range of 0
2000 corresponding to the current values of 020mA).
No.
Function Description
DRC9
DRCA
DRCB
DRCC
DRCD
DRCE
Reserved
DRCF
Reserved
DRD0
DRD1
DRD2
DRD3
DRD4
DRD5
DRD6
DRD7
DRD8
DRD9
DRE3
Reserved
Range: 04095.
DRE4
DRE5
DRE6
DRE7
DRE8
DRE9
DREA
DREB
DREC
DRED
DREE
DREF
DRF0
Reserved
GFK-2470A
4-37
Logic Blocks
Function Block programming provides a set of blocks for performing the logical operations
AND, NAND, NAND (EDGE), OR, NOR, XOR, NOT, Pulse, Set, and Reset. The same
operations can also be performed in ladder logic by combining contacts and coils as shown in
this section.
AND
The output of the AND function is high (1) if all the inputs are high, as shown in the chart
below. The default state for no connection is high.
Input1
Input2
Input3
Output
0
0
0
0
1
1
1
1
0
0
1
1
0
0
1
1
0
1
0
1
0
1
0
1
0
0
0
0
0
0
0
1
Function Block
Equivalent Ladder
Logic
Block Diagram
output
I01 And I02 And I03
4-38
GFK-2470A
AND (Edge)
The output of AND (Edge) is high if the inputs are all 1 and at least one input has transitioned
from zero. The output remains high for at least one output scan time. The output is then reset
to zero and remains at zero for at least one output cycle before the next high. Default state for
no connection is high (1).
Timing Diagram for AND (Edge)
Function Block
Block Diagram
output
GFK-2470A
4-39
NAND
The output of the NAND function is high if at least one input is low, as shown in the table
below. The output is low if all the inputs are high. The default state for no connection is high
(1).
Input1
Input2
Input3
Output
Function Block
Equivalent Ladder
Logic
Block Diagram
output
4-40
GFK-2470A
NAND (Edge)
The output of the NAND (EDGE) function is high when at least one input transitions to zero
after all inputs were 1 previously. The output then resets to zero. The output remains at zero
for at least one period before the next high. The default state for no connection is high (1).
Timing Diagram for NAND (Edge)
Function Block
Equivalent Ladder
Logic
Block Diagram
output
GFK-2470A
4-41
OR
The output of the OR function is high if at least one input is 1, as shown in the table below.
The default state for no connection is low (0).
Function Block
Input1
Input2
Input3
Output
Equivalent Ladder
Logic
Block Diagram
output
4-42
GFK-2470A
NOR
The output of the NOR function is high (1) if all the inputs are low (0), as shown in the table
below. The default state for no connection is low (0).
Function Block
Input1
Input2
Input3
Output
Block Diagram
output
GFK-2470A
4-43
XOR
The output of the XOR function is high (1) if the two inputs differ in states (one is 1 and the
other is 0), as shown in the table below. The default state for no connection is low (0).
Function Block
Input1
Input2
Output
Block Diagram
output
NOT
The output of the NOT function is inverted to input state, as shown in the table below. The
default state for no connection is high (1).
Function Block
Input
Output
Equivalent Ladder
Logic
Block Diagram
output
Not I01
Note: The input terminal is NOP which is equivalent to High
4-44
GFK-2470A
4
Positive Input Differential (One-Shot)
A positive input differential instruction, or One-Shot, holds its status ON for one CPU scan
when the preceding series contact transitions from OFF to ON. This transition from OFF to ON
is called a Positive Input Differential.
GFK-2470A
4-45
4
SET Output (Latch)
A Set Output turns on either an output (Q) or auxiliary (M) coil when the preceding input
contact transitions from Off to On. The output remains On (set) even if the preceding input
contact goes Off. It remains On until it is set to 0 using a Reset instruction.
Timing Diagram for Set Output (Latch)
I1
Q1
OFF
ON
OFF
OFF
ON
I1 Q1
Software Example:
4-46
GFK-2470A
I1
Q1
OFF
ON
ON
OFF
OFF
I1Q1
Software Example:
Equivalent Ladder
Logic
GFK-2470A
4-47
ON
OFF
ON OFF
OFF
ON
ON OFF
OFF
I1PQ1
Software Example:
4-48
GFK-2470A
Function Blocks
This section describes the Counter, Timer, Real-Time Clock, Compare, PWM, HMI, and
Datalink functions of the DURUS controller.
Counters
The DURUS controller provides 31 individual counters, each of which can count in any of eight
different modes. Six general counters are available with all controller types. Controllers that
have DC outputs support two additional High-speed Counters.
Ladder Diagram Format for Counters
The setting value of the counter can be a constant or the current value of the timer, counter
analog input A1A8, or analog gain value V1V8.
Compatible Instructions
Inputs
Range
Keypad Inputs
I01-I0C / i01-i0C
Z01-Z04 / z01-z04
Outputs
Auxiliary coil
Expansion inputs
Expansion outputs
RTC
Counter
Timer
Analog comparator
Normal closed contact
Q01-Q08 / q01-q08
M01-M0F / m01-m0F
X01-X0C /x01-x0C
Y01-Y0C / y01-y0C
R01-R1F / r1-r1F
C01-1CF / c01-c1F
T01-T1F / t01-t1F
G01-G1F / g01-g1F
Lo
GFK-2470A
4-49
4
Counter Mode 0: Internal Coil
Mode 0 Counter (Internal Coil) used as internal auxiliary coils. No counter preset value. In the
example below shows the relationship among the numbered block diagram for a mode 0
counter, the ladder diagram view, and the software Edit Contact/Coil dialog box.
4-50
GFK-2470A
4
Function Block Format for Counter Mode 0
Counting Input
Up/Down Counting
Reset
Counting Parameter
GFK-2470A
4-51
4
Counter Mode 1: Count Up or Down to Preset, Non-Retentive
Counter Mode 1 counts either up from zero to a
Preset Value or down from the Preset Value to zero,
and then stops. The rising edge produces count
pulses. If the count direction is Up, the output is On
when the Current Value is equal to the Target Value
and a reset sets the counter to zero. If the count
direction is Down, the output is on when the Current
Value is equal to zero and a reset sets the Current
Value to the Target Value. The Current Value is nonretentive. It resets when the controller loses power.
4-52
GFK-2470A
GFK-2470A
4-53
4
Counter Mode 3, Fixed Count Up or Down, Retentive
Counter Mode 3 is similar to the Counter Mode 1
except that Counter Mode 3 retains the Current Value
after power is removed and continues counting when
power is restored.
4-54
GFK-2470A
4
Ladder Diagram Format for Counter Mode 3
GFK-2470A
4-55
4
Function Block Format for Counter Mode 4
Counting Input
Up/Down Counting
Reset
Counting Parameter
4-56
GFK-2470A
4
Timing Diagram for Counter Mode 5
GFK-2470A
4-57
4
Counter Mode 6, Continuous Count Up or Down, Retentive
Counter Mode 6 is similar to the Counter Mode 5, except
that Counter Mode 6 will retain the count value after the
power is removed and continue counting when the power
is restored.
4-58
GFK-2470A
4
Function Block Format for Counter Mode 6
Counting Input
Up/Down Counting
Reset
Counting Parameter
GFK-2470A
4-59
4
Counter Mode 7, High-Speed Counter: Count Up to Target Value (Only
on DC Power Supply Models)
DC power supply modules have two 1 KHz High-speed
input terminals, I1 and I2. These inputs can be used as
either DC inputs or as High-Speed Counter inputs
connected to an input device such as an encoder. Counter
Mode 7 is a High-Speed Up Counter that operates at
speeds up to 1KHz at 24VDC. The coil (C1-CF) that is
specified by parameter 6 will turn On when the count
reaches the Preset Value (parameter 5), and remain On.
The counter is reset when either the Reset input
(parameter 3) is active, or when the preceding ladder logic
rung is inactive.
4-60
GFK-2470A
4
Function Block Format for Counter Mode 7
High counting input
Enable Input
Reset
Counter Parameter
GFK-2470A
4-61
4
Timing Diagram for Counter Mode 8
As shown in the diagram, the output will be delayed for one interval.
Enable Input
Reset
Counter Parameter
4-62
GFK-2470A
4
Example:
If the Counting Interval is 5 seconds, the Counter countd the number of high-speed inputs for a
duration of 5 seconds. For each pulse received, the Counter increments its accumulator.
At the end of the 5-second interval, the Counter compares its accumulator value with the On and
Off Preset values, and decides the Counter Coil output. Also, at the end of the 5-second interval,
the Counter sets its Accumulator to zero and starts counting for the next 5 seconds.
GFK-2470A
4-63
4
Timers
The DURUS controller includes a total of 31 separate timers. Each timer has a choice of eight
operation modes. Modes 06 are general-purpose timer modes. Mode 7 can be used for a
pulse timer.
Retentiveness of Timers
For most timers and timer types, the current value of the timer is not retained if controller
power is removed. However, for DURUS controllers with revision 2.1 or later firmware, timers
T0E and T1F are retentive for Timer Types 1, 2, 3, and 4 if M Keep is active.
To set M Keep, go to the Operation menu and select Module System Set.
Example:
1: 0.0099.99s
2: 0.0999.9s
3: 09999s
4: 09999m
4-64
Timer Units:
GFK-2470A
4
The preset value of the timer can be a constant or the current value of another function. The
other function can be timer, counter, analog input A1A8, analog gain + offset value, V01
V08, AS01AS1F, MD01MD1F, PID01PID0F, MX01MX0F, AR01AR0F and DR01DRF0.
Compatible Instructions
Inputs
Keypad Inputs
Outputs
Auxiliary coil
Expansion inputs
Expansion outputs
RTC
Counter
Timer
Analog comparator
Normal closed contact
Range
I01-I0C / i01-i0C
Z01-Z04 / z01-z04
Q01-Q08 / q01-q08
M01-M3F / m01-m3F
X01-X0C /x01-x0C
Y01-Y0C / 0y1-y0C
R01-R0F / r01-r1F
C01-C1F / c01-c1F
T01-T1F / t01-t1F
G01-G1F / g01-g1F
High/Low
GFK-2470A
4-65
4
Timing Diagram for Timer Mode 0
4-66
GFK-2470A
4
Timer Mode 1, On-Delay Mode Timer
In Mode 1, the Timer will increment up to the Preset Value then
stop. The Current Value of the timer is normally non-retentive; it is
reset to zero if power is lost. For DURUS controllers with firmware
revision 2.1 or later, timers T0E and T1F are retentive for Timer
Mode 1.
The Timer Status Bit T01 is On when the Current Value is equal to
the Preset Value.
Timing Diagram for Timer Mode 1
The time 't' is the preset value. When the present value reaches
the preset value, it will stop. The timer status bit T01 will be ON
when the current value reaches the preset value.
Enable Input
Timing Parameter
GFK-2470A
4-67
4-68
GFK-2470A
4
Function Block Format for Timer Mode 2
Enable Input
Reset
Timing Parameter
GFK-2470A
4-69
4
Timer Mode 3, Off Delay with Reset
Timer Mode 3 is an Off-Delay Timer. In Mode 3, the
Timer will increment up to the Preset Value then stop
timing. The Current Value of the timer is normally nonretentive; it is reset to zero if power is lost or if the
Reset input is set to 1. The Timer Status Bit T1 is On
when the rung is true; the timer only starts incrementing
when the rung changes to false. The Timer Status Bit
goes Off when the timers Current Value reaches the
Preset Value. For DURUS controllers with firmware
revision 2.1 or later, timers T0E and T1F are retentive
for Timer Mode 3.
4-70
GFK-2470A
4
Function Block Format for Timer Mode 3
Enable Input
Reset
Timing Parameter
GFK-2470A
4-71
4
Timer Mode 4, Off Delay with Reset
Timer Mode 4 is an Off-Delay Timer with a Reset
input parameter. In Mode 4, the Timer increments
up to the Preset Value, then stops. The Current
Value of the timer is normally non-retentive; it is
reset to zero if power is lost or if the Reset input is
set to 1. The Timer Status Bit T1 goes On and the
Current Value starts incrementing when the rung
transitions from true to false. When the Current
Value reaches the Preset Value, the Timer Status
Bit goes Off and the Preset Value is reset to zero. If
the Reset input goes On, the Present Value resets
to zero and the timer output goes Off.
If the Enable input transitions from Off to On while
the timer is incrementing, the Current Value is
cleared to zero. When the Enable input transitions
from Off to On, the output is Off and the Current
Value is held. When the Enable input goes from Off
to On, the output goes On and the Current Value
starts incrementing.
For DURUS controllers with firmware revision 2.1
or later, timers TE and TF are retentive for Timer
Mode 4.
Timing Diagrams for Timer Mode 4
4-72
GFK-2470A
4
Function Block Format for Timer Mode 4
Enable Input
Reset
Timing Parameter
GFK-2470A
4-73
4-74
GFK-2470A
4
Function Block Format for Timer Mode 5
Enable Input
Timing Parameter
GFK-2470A
4-75
4-76
GFK-2470A
4
Function Block Format for Timer Mode 6
Enable Input
Reset
Timing Parameter
GFK-2470A
4-77
4-78
GFK-2470A
4
Function Block Format for Timer Mode 7
Enable Input
Timing Parameter
GFK-2470A
4-79
4-80
GFK-2470A
4
Function Block Format for RTC Mode 0
Enable Input
GFK-2470A
4-81
4
RTC Mode 1, Daily
The Daily Mode 1 allows the Rxx coil to active based on a fixed time across a defined set of
days per week. The configuration dialog below (example 1) allows for selection of the number
of days per week (i.e. Mon-Fri) and the Day and Time for the Rxx coil to activate ON, and the
Day and Time for the Rxx coil to deactivate OFF.
4-82
GFK-2470A
4
Timing Diagram Examples for RTC Mode 1
Example 1:
Day
Time
ENABLE
Monday
8:00
17:00
TU-FR
08:00
17:00
Tuesday
8:00
17:00
Wednesday
8:00
17:00
Friday
8:00
17:00
Saturday
Sunday
Rn Output
Monday
8:00
17:00
Tuesday
8:00
17:00
Wednesday
8:00
17:00
Friday
8:00
17:00
Saturday
Sunday
Rn Output
Example 2:
Day
Time
ENABLE
Monday
8:00 17:00
FR-TU
08:00
17:00
Tuesday
8:00
17:00
Friday
8:00 17:00
Saturday
8:00 17:00
Sunday
8:00 17:00
Rn Output
GFK-2470A
4-83
4
Example 3:
Day
Time
Monday
8:00 17:00
SU-SU
17:00
8:00
Tuesday
8:00 17:00
Friday
8:00 17:00
Saturday
8:00
17:00
Sunday
8:00
17:00
ENABLE
Rn Output
Enable Input
RTC Parameter
4-84
GFK-2470A
Day
Time
ENABLE
Monday
8:00
17:00
TU-SA
08:00
17:00
Tuesday
8:00
17:00
Friday
8:00
17:00
Saturday
8:00
17:00
Sunday
8:00
17:00
Friday
8:00
17:00
Saturday
8:00
17:00
Sunday
8:00
17:00
Rn Output
Monday
8:00
17:00
Tuesday
8:00
17:00
Rn Output
GFK-2470A
OFF
Chapter 4 Function Blocks
4-85
4
Example 2:
Day
Time
ENABLE
Monday
8:00 17:00
TU-SA
17:00
08:00
Tuesday
8:00 17:00
Friday
8:00 17:00
Saturday
8:00
17:00
Sunday
8:00
17:00
Rn Output
Example 3:
Day
Time
ENABLE
Monday
8:00 17:00
SA-TU
08:00
17:00
Tuesday
8:00 17:00
Friday
8:00 17:00
Saturday
8:00
17:00
Sunday
8:00
17:00
Rn Output
Example 4:
In this example, because the start time comes before the end time, the RTC goes On and Off
the same Saturday.
Day
Time
ENABLE
Monday
8:00
17:00
SA-SA
08:00
17:00
Tuesday
8:00
17:00
Friday
8:00
17:00
Saturday
8:00
17:00
Sunday
8:00
17:00
Rn Output
4-86
GFK-2470A
4
Example 5:
In this example, because the start time comes after the end time, the RTC goes On one
Saturday and Off the next Saturday. The result is that the RTC is always On except from 8:00
to 17:00 on Saturday.
Monday
8:00
17:00
Day
Time
ENABLE
SA-SA
17:00
08:00
Tuesday
8:00
17:00
Friday
8:00
17:00
Saturday
8:00
17:00
Sunday
8:00
17:00
Rn Output
Enable Input
RTC Parameter
GFK-2470A
4-87
//
//
Year-Month-Day
Time
ENABLE
2000/01/01
0:00
03/05/23
03/05/23
2003/05/23
0:00
2004/12/22
0:00
2099/12/30
0:00
Rn Output
4-88
GFK-2470A
4
Example 2:
//
//
Year-Month-Day
Time
ENABLE
03/05/23
04/12/22
2000/01/01
0:00
2003/05/23
0:00
2004/12/22
0:00
2099/12/30
0:00
2003/05/23
0:00
2004/12/22
0:00
2099/12/30
0:00
Rn Output
2000/01/01
0:00
ENABLE
Rn Output
Example 3:
//
//
Year-Month-Day
Time
ENABLE
03/05/23
04/12/22
2000/01/01
0:00
2003/05/23
0:00
2004/12/22
0:00
2099/12/30
0:00
Rn Output
GFK-2470A
4-89
4
Ladder Diagram Format for RTC Mode 3
Enable Input
RTC Parameter
4-90
GFK-2470A
4
RTC Mode 4: 30 Second Adjustment Mode
Symbol
Description
RTC mode 4
GFK-2470A
4-91
4
Example 2: Begin Thursday, At 08:00:40 (hour:minutes:seconds)
At the specified On time of 08:00:40, the function takes effect. The Rn output is turned On for
one scan time when the RTC is set to 08:01:00.
Enable Input
RTC Parameter
4-92
GFK-2470A
4
Compare Functions
The DURUS controller provides 31 individual Compare instructions. They can be used to
compare analog values, timers, counters and RTC values to each other, or to a specified
parameter value.
If input parameters are configured as DR, V, T, A, AQ or C, the input value will be divided
by 100. (For example, if DR= 65000 then in Analog comparator function will treat that as
650.00.)
The ON or OFF state of the output terminal (G1 through G1F) depends on the comparison of
inputs of Ax and Ay. There are eight Compare modes:
Compare mode 0:
Compare mode 1:
Compare mode 2:
Compare mode 3:
Compare mode 4:
Compare mode 5:
Compare mode 6:
Compare mode 7:
GFK-2470A
4-93
4-94
GFK-2470A
GFK-2470A
4-95
4
Compare Mode 3, Output is On if: Ax Ay
Function Block Format for Compare Mode 3
Enable Input
Analog Input
Analog Input
Reference
Analog Input
Reference
Enable Input
Analog Input
Reference
Enable Input
4-96
GFK-2470A
4
Ladder Diagram Format for Compare Mode 5
GFK-2470A
4-97
Compare Examples
Example 1: Compare Analog Signals. This example uses Analog Compare Mode 4 to
compare the value of analog input A1 to a constant value (N) of 2.50. Status coil G1 turns On
if A1 is 250 or less.
Example 2: Compare Timer/Counter Preset Value. The Compare function can be used to
compare Timer, Counter, and RTC values to a constant value or to each other. In the example
below, a Mode 5 Compare function compares the value of Counter C1 to a constant value (N)
of 15 counts (the decimal point is ignored). Status coil G1 turns On if C1 is < 15 counts.
4-98
GFK-2470A
4
MODBUS Functions
The 15 MODBUS function blocks, MU01MU0F, carry out Modbus RTU master
communications on an RS-485 port.
Remote IO and Date Link communications have higher priority than MODBUS. MODBUS is
executed when the system setting for Remote IO is No and ID is not equal to 0. For details on
configuring a DURUS controller with built-in RS-485 port or MODBUS Slave Expansion unit,
refer to Chapter 9, MODBUS Communications.
MODBUS takes control of the communication port, and releases the port when disabled and
one MODBUS period is completed. There can be a number of communication requests in one
program, but only one request can control the communication port at a time. The other
functions must keep their enable states to execute their requests.
The following table lists MODBUS function modes and their corresponding communication
function code:
Mode
03 (read register)
01 (read coil)
M3D is set to ON after received, then check-up for error. Transferring data to target
address if there is no error.
M3F is set to 1 when the time from after sending to start receiving is longer than
setting, and M3D also be set to 1. M3F is automatically reset if M3D reset.
The timeout period depends on the communication baud rate as shown in the table below:
Baud rate (bps)
Timeout (ms)
125
57600
100
115200
80
Description
GFK-2470A
4-99
4
Examples:
Mode
1
Read
register
2
Write
single
register
3
Write
register
4
Read
coil
4-100
Display
Address is constant: 0003,
Length 1,
Send: 01 03 00 03 00 01 CRC16;
Receive:
01 03 02 data1 data2
CRC16
Data storage:
DRE0= (data1<<8) | data2
Address is DR03=0001,
Length is DR04=0002,
Send: 01 03 00 01 00 02 CRC16;
Receive:
01 03 04 data1 data2
data3 data4 CRC16,
Data storage:
DRE0= (data1<<8) | data2,
DRE1= (data3<<8) | data4
Receive:
01 06 00 03 04 D2 CRC16
Address: DR03=0001,
Data storage: DRE0=1234(hex:
04D2)
Send: 01 06 00 01 04 D2 CRC16
Receive:
01 06 00 01 04 D2 CRC16
Receive:
01 10 00 03 00 01 CRC16
Address: DR03=0001
Length: DR04=0002
Data storage: DRE0=1234(hex:
04D2), DRE1=5678(hex: 162E)
Send: 01 10 00 01 00 02 04 04 D2
16 2E CRC16
Receive:
01 10 00 01 00 02 CRC16
Address: 0003
Length 10H,
Send: 01 01 00 03 00 10 CRC16
Receive:
01 01 02 data1 data2
CRC16
Data storage:
DRE0= (data1<<8) | data2
Address: DR03=0001
Length: DR04=0016
Send: 01 01 00 01 00 10 CRC16;
Max value in DR04 is 400.
Receive:
01 01 02 data1 data2
CRC16
Data storage:
DRE0= (data1<<8) | data2
GFK-2470A
4
5
Write
single
coil
GFK-2470A
Address: 0003,
Data storage:
DRE0=65280(hex: FF00),
Send: 01 05 00 03 FF 00 CRC16;
Receive:
01 05 00 03 FF 00 CRC16
Address: DR03=0001,
Data storage:
DRE0=65280(hex: FF00),
Send: 01 05 00 01 FF 00 CRC16;
Receive:
01 05 00 01 FF 00 CRC16
4-101
5
Most DURUS controllers include a built-in LCD display and keypad. The keypad and display
are used for changing timer/counter set points, changing the controller mode, uploading and
downloading with the Memory Option module, and updating the Real Time Clock. Although
logic programming can be performed using the keypad and display, it is recommended that
logic changes be made only using the DURUS programming software.
This chapter explains how to navigate the controller LCD screens and make changes using
the built-in keypad, in Ladder Logic mode.
Startup Screen
GFK-2470A
5-1
Keypad Overview
Select (SEL) Used to select the available memory and instruction types for
editing. Holding the Select button will display all H HMI/Text messages on
the LCD.
OK Used to accept the selection displayed of an instruction or function. It is
also used to select any of the Main Menu options on the LCD.
Note:
Escape Used to exit a selected display screen and go to the previous screen. When in a
ladder display screen, press the ESC to display the main menu.
Delete Used to delete an instruction or rung from the ladder program.
The four navigation buttons () are used to move the cursor throughout the functions of
the DURUS display or active program. The four buttons also can be set programmable input
coils Z01Z04 (= Z01, =Z02, =Z03, =Z04);
5-2
GFK-2470A
GFK-2470A
5-3
Startup Screen
By default, the controller LCD screen shows:
SEL+
or
SEL+
or
SEL
If the HMI function is enabled, HMI screens that have been created using the
programming software are displayed if the SEL button is pressed for 3
seconds.
SEL+OK
5-4
GFK-2470A
5-5
I/O Interface
I/Z/Q
X/Y
X01X0C, Y01Y0C
M1
M01M1F
M2
M20M3F
N1
N01N1F
N2
N20N3F
T01T1F
C01C1F
R01R1F
G01G1F
10
A1
A01A04
11
A5
A05A08
12
AT
AT01AT04
13
AQ
AQ01AQ04
5-6
DRD8 Value
0=Displayed
1=Not displayed
GFK-2470A
Use the Up arrow and Down arrow keys to select items from the Main Menu.
>
Description
LADDER
Ladder edit
FUN.BLOCK
FBD
FBD display
PARAMETER
RUN
RUN or STOP
DATA REGISTER
CLEAR PROG.
WRITE
READ
SET
System setting
RTC SET
RTC setting
ANALOG SET
Analog setting
PASSWORD
Password setting
LANGUAGE
INITIAL
LADDER
FUN.BLOCK
(FBD)
PARAMETER
STOP
DATA REGISTER
WRITE
RTC SET
PASSWORD
LANGUAGE
GFK-2470A
5-7
L ADDE R
F U N . B L OC K
> R UN
C L E A R P R OG .
Selecting RUN places the controller in Run mode. Selecting STOP places the controller in
Stop mode.
5-8
L ADDE R
F U N . B L OC K
R UN
> C L E A R P R OG .
GFK-2470A
Write a Program
Select Write from the menu (by scrolling down) to write the program from the controller to the
Memory Option Module.
F U N . B L OC K
R UN
C L E A R P R OG .
> WR I T E
Read a Program
In Stop mode, select Read from the menu (by scrolling down) to read the program from the
Memory Option Module to the controller.
R UN
C L E A R P R OG .
WR I T E
> R E AD
GFK-2470A
5-9
C L E A R P R OG .
WR I T E
R E AD
> S ET
Select the setup parameters:
Set ID Number (00 to 99)
I D S ET
00
R E MO T E I / O N
B A C K L I GHT
M KE E P
I / O N U MB E R : 0
I / O A L A R M:
C KEE P
Z SET
5-10
GFK-2470A
WR I T E
R E AD
S ET
>RTC S ET
Controller version
RT C S E T V X . X
03 . 06 . 23
MO 0 9 : 3 7
SEL + /
SEL + /
OK
Save the RTC Time, finish the original screen setting, then display the
initial programming screen,
ESC
GFK-2470A
5-11
Description
Error Action
ROM ERROR
Vpd ERROR
PROG ERROR
LOGIC ERROR
EXT. ERROR
COMM ERROR
Warning only
RTC ERROR
Warning only
EMPTY PACK
Warning only
MEM ERROR
Warning only
5-12
GFK-2470A
R E AD
S ET
RTC S ET
> A N A L OG S E T
A 1 = GA I N : 0 1 0
OF F S E T : + 0 0
A 2 = GA I N : 0 1 0
OF F S E T : + 0 0
A 3 = GA I N : 0 1 0
OF F S E T : + 0 0
A 4 = GA I N : 0 1 0
OF F S E T : + 0 0
A 5 = GA I N : 0 1 0
OF F S E T : + 0 0
A 6 = GA I N : 0 1 0
OF F S E T : + 0 0
A 7 = GA I N : 0 1 0
OF F S E T : + 0 0
A 8 = GA I N : 0 1 0
OF F S E T : + 0 0
For example, for input A1, the Gain is set to 100 and the Offset is set to +10. If input A1 has an
analog voltage of 6.80 volts, the HMI text (voltage x Gain + Offset) for input A1 will be equal to:
(6.80V * 100) + 10 = 690. So the input value will be displayed as 690.
GFK-2470A
5-13
S ET
RTC S ET
A N A L OG S E T
> P A S S W OR D
Set the Password
If a password is set, the password must be used to enter either Ladder Logic or Function Block
mode. In addition, the password is required to use the ESC button to exit the homepage while
the controller is in Run mode. If the password is forgotten, the only way to recover is to clear
the program.
Valid range for the password is 0001FFFE.
P A S S WOR D
P A S S WOR D
0123
****
OK
P A S S WOR D
0123
5-14
P A S S WOR D
OK
0000
GFK-2470A
RTC S ET
A N A L OG S E T
P A S S WO R D
> L A N GU A GE
GFK-2470A
5-15
1 2 3 4 5 6 7 8 9 AB C
SEL +
RUN
SEL +
A1 = 6
A2 = 1
A3 = 4
A4 = 1
WE 0 9 : 2 4
.
.
.
.
8 3V
3 3V
8 7V
5 4V
SEL +
Analog Input
Values
SEL +
1 2 3 4 5 6 7 8 9 AB C
DEF
G Table States:
analog comparator
SEL +
SEL +
1 2 3 4 5 6 7 8 9 AB C
DEF
R Table States:
RTC
SEL +
SEL +
1 2 3 4 5 6 7 8 9 AB C
DEF
C Table States:
Counter
SEL +
SEL +
1 2 3 4 5 6 7 8 9 AB C
DEF
T Table States:
Timer
SEL +
SEL +
1 2 3 4 5 6 7 8 9 AB C
DEF
M Table States:
Auxiliary coil
SEL +
SEL +
1 2 3 4 5 6 7 8 9 AB C
03 .10:04
SEL +
1 2 3 4 5 6 7 8 9 AB C
RUN
5-16
WE 0 9 : 2 4
GFK-2470A
Expansion
Input On/Off
States
= On
Point
Numbers
=Off
1 2 3 4 5 6 7 8 9 ABC
Expansion
Output On / Off
States
03 . 10 . 04
Real-Time Clock
Day, Date: Month
Expansion Module
Status
= On
=Not linked
= Not Set
GFK-2470A
5-17
1 2 3 4 5 6 7 8 9 ABC
Press SEL
for 3
seconds
RUN
WE 0 9 : 2 4
ESC
H1
Display H1
Up
Arrow
Down
Arrow
T 1 = 1 0 0 0 Mi n
C1= 0 0 4 0 0 0
C2 = 0 0 2 0 0 0
SEL
Up / Down
Arrow move
Cursor
> T 1 = 1 0 0 0 Mi n
C1= 0 0 4 0 0 0
C2 = 0 0 2 0 0 0
T 1 = 1 0 0 0 Mi n
>C1= 0 0 4 0 0 0
C2 = 0 0 2 0 0 0
OK
ESC
T 1 = 1 0 0 0 Mi n
>C1= 0 0 4 0 0 0
C2 = 0 0 2 0 0 0
Up / Down
Arrow
T 1 = 1 0 0 0 Mi n
>C1= 1 0 4 0 0 0
C2 = 0 0 2 0 0 0
OK
ESC
T 1 = 1 0 0 0 Mi n
>C1= 1 0 4 0 0 0
C2 = 0 0 2 0 0 0
T 1 = 1 0 0 0 Mi n
>C1= 0 0 4 0 0 0
C2 = 0 0 2 0 0 0
5-18
GFK-2470A
Change a Preset
If the HMI screens have been set up in the programming software to include changing Presets,
they can be modified using the controller keypad. The following example shows how to modify
the Preset Value of C1 in Run mode. In this example, the Preset Value 000010 of counter
mode 7 is used as the Current Value of T2.
1. In the HMI screen, press SEL.
T1=00 . 00Se c
T1=00 . 05Se c
C1=000010
000000
2. Press the Down arrow to move the cursor to the C1 Preset Value position.
T1=00 . 00Se c
T1=00 . 05Se c
C1=000010
000000
3. Press SEL three times. The Preset Value changes from 000000 to A1 to T1.
T1=00 . 00Se c
T1=00 . 05Se c
C 1 =T1
000000
4. Press the Up arrow.
T1=00 . 00Se c
T1=00 . 05Se c
C 1 =T2
000000
5. Press OK to save the setting.
GFK-2470A
5-19
Description
Ix ix space Ix (column 1, 3, or 5.)
Qx space Qx (column 8).
space
x : Digital: 1~F
SEL +
Up Arrow
or
Down Arrow
1...F,
I X Q Y M D T C R G I
Q Y M T C R G H L P Q (Cursor in column 8)
( P ( Cursor at column 7 when column 8 Q, Y, or M)
( P ( Cursor at column 7 when column 8 is set as T)
SEL + /
Arrow keys
DEL
Delete an instruction
ESC
OK
Confirm the data and automatically save, the cursor moves to next input
position.
When the cursor is on Column 8, press OK to automatically enter the function
block and set the parameters.
SEL+DEL
SEL+ESC
SEL+/
SEL+OK
5-20
GFK-2470A
Step 1:
Press OK to place the display in
Ladder Edit mode.
Step 2:
Press SEL with cursor located at
character or digit, press the button
to show I1.
Step 3:
Press Up Arrow twice.
(Press SEL + Up / Down
and the digit at the cursor position
will change from I to Q).
Step 4:
Press SEL to start /end modifying
parameter.
Step 5:
Press Right Arrow.
(Press SEL + Right / Left Arrow if
cursor is located on the digit
position in a column).
Step 6:
Press Up Arrow three times.
(Press SEL + Up / Down Arrow,
the digit will change from 1 to 4)
GFK-2470A
Column
1 2 3
Line 1 > L A D D
2
F U N .
3
R U N
4
C L E A
Column
Line 1
2
3
4
6 7
E R
B L O C K
R
P R O G .
6 7
Column 1 2
Line 1 I 1
2
3
4
6 7
Column
1 2
Line 1 Q 1
6 7
6 7
6 7
2
3
4
Column
1 2
Line 1 q 1
2
3
4
Column
1 2
Line 1 q 1
2
3
4
Column 1
2 3
Line 1 q 4
4 5
6 7 8
2
3
4
5-21
6 7
6 7
6 7
Column
1 2 3 4 5 6 7
Step 8:
Press OK in Column 5 to move the
Line 1 q 4 M 1 I 3
cursor to the character in column 8.
2
3
4
Step 7:
Press Left Arrow
(Press SEL + Left / Right Arrow
to move the cursor to the position).
Column
1 2
Line 1 q 4
2
3
4
Automatically Link
OR
OR
Column
1 2
Line 1 q 4
2
3
4
Automatically Link
Column
1 2
Line
1
q 4
Press Right Arrow to move the
2
cursor to the link location in column
2.
3
4
Step 9:
Press SEL
(with the cursor located at
character and digit, press SEL
to show ( Q1)
Column
1 2 3 4 5 6 7 8
Line 1 q 4 M 1 I 3 ( Q 1
2
3
4
Auto Add -(
Step 10:
Press OK to save the input
program data. The cursor will not
move.
5-22
Column
1 2 3 4 5 6 7 8
Line 1 q 4 M 1 I 3 ( Q 1
2
3
4
GFK-2470A
Column
Line 1
2
3
4
6 7
Step 12:
Press Right Arrow twice to move
the cursor to column 2.
Column
1 2 3 4 5 6 7 8
Line 1 q 4 M 1 I 3 ( Q 1
2
3
4
Change Wire to
Step 13:
Press SEL to display vertical line.
Column
1 2 3 4 5 6 7 8
Line 1 q 4 M 1 I 3 ( Q 1
2
3
4
Step 14:
Press OK to move the cursor to
character in column 3.
Column
1 2 3 4 5 6 7 8
Line 1 q 4 M 1 I 3 ( Q 1
2
3
4
Column
1 2 3 4 5 6 7 8
Line 1 q 4 M 1 I 3 ( Q 1
r 3 ( Q 1
2
3
4
GFK-2470A
5-23
Step 17:
Press Up Arrow four times.
(Press SEL + Up/ /Down Arrow)
The character Q the cursor location
changes to C.
Step 18:
Press Right Arrow key.
Column
1 2 3 4 5 6 7 8
Line 1 q 4 M 1 I 3 ( Q 1
r 3 ( C 1
2
3
4
Column
1 2 3 4 5 6 7 8
Line 1 q 4 M 1 I 3 ( Q 1
r 3 ( C 1
2
3
4
Step 19 :
Press Up Arrow key seven times.
(Press SEL + Up / Down Arrow).
The digit 1 at the cursor location
changes to 7)
Column
1 2 3 4 5 6 7 8
Line 1 q 4 M 1 I 3 ( Q 1
r 3 ( C 7
2
3
4
Column
1
Step 20:
Press OK to automatically switch to
Line 1
Function Block view and counter
2 I 1
input parameter.
3
4 I 1
Step 21:
Press ESC to return to Ladder
Logic mode.
5-24
0 0 0 0
6 7
C 7
Column
1 2 3 4 5 6 7 8
Line 1 q 4 M 1 I 3 ( Q 1
r 3 ( C 7
2
3
4
GFK-2470A
6 7
M 1 I 3 ( Q 1
r 3 ( C 7
O P
L I N E 0 0 2
Delete A Line
Column
1 2 3 4 5 6 7 8
Line 1 q 4 M 1 I 3 ( Q 1
r 3 ( C 7
2
3
4
Press SEL and DEL at the same
time.
To cancel, press ESC.
To accept, press OK.
GFK-2470A
Column
1
Line 1 q 4
2
3 C L
4 E S
6 7
M 1 I 3
r 3
E A R
L n
C
?
O
( Q 1
( C 7
0 0 2
K
?
5-25
Insert a Line
Column
1 2 3 4 5 6 7 8
line 1 q 4 M 1 I 3 ( Q 1
r 3 ( C 7
2
3
4
Press SEL and OK at the same
time.
Column
1 2 3 4 5 6 7 8
Line 1 q 4 M 1 I 3 ( Q 1
2
r 3 ( C 7
3
4
5-26
Column
1 2 3 4 5 6 7 8
line 1 q 4 M 1 I 3 ( Q 1
r 3 ( C 7
2
3
4
5
GFK-2470A
L ADDE R
> F U N . B L OC K
R UN
C L E A R P R OG .
Press OK to place the display in Function Block edit mode.
The screen shows the function blocks in the current program. Function Block formats are
shown on pages 5-29 through 5-33. Use the keys to move the cursor and edit the function
parameters.
In the Function Block or Parameter submenu, you can also choose the function block type
using the following method:
In the Ladder mode Function block submenu, with the cursor positioned as shown below:
Figure A
Figure B
Press SEL. The cursor will change to edit mode as shown below.
Figure C
Figure D
GFK-2470A
5-27
5
After pressing , you can choose any function block type such as G02 as shown below:
5-28
GFK-2470A
Timer Format
Timer Type: 0, 1, 2, 3, 4, 5, 6, 7.
Type 7 cannot be selected here. It
must be selected in Ladder Logic
edit mode as type P.
Preset Timebase Value:
1 = 0.01 second
2 = 0.1 second
3 = 1 second
4 = 1 minute
Reset Input
Current Value
2
1
6 8 . 0 1
I1
T1
Timer Number ( T1 to TF )
Preset Value:
00.00 to 99.99 or
000.0 to 999.9 or
0000 to 9999 or
Current Value: V1 to V8, A1 to A8, T1 to TF, C1 to CF
Counter Type: 1, 2, 3, 4, 5, 6.
Up / Down
Counter set input
Current Value
I6
0 1 2 3 3 3 C1
I8
Counter Number ( C1 to CF )
Reset Input
Preset Value:
000000 to 999999 or
Current Value: V1 to V8, A1 to A8, T1 to TF, C1 to CF
If an Up Counter is selected, when the Reset Input is On, the Current Value clears to 0.
If the selected Counter Type is type 1, 2, 3, or 4 and down counting is selected, when the
Reset Input is Off, the Current Value is set to the Reset Value.
GFK-2470A
5-29
Current Value
High-speed Set
I1
6 8 0 1 2 3 C1
I4
Input: I1 or I2
Counter Number ( C1 to CF )
Reset Input
Preset Value:
000000 to 999999 or
Current Value: V1 to V8, A1 to A8, T1 to TF, C1 to CF
High-speed Set
Input: I1 or I2
I 2 6 8 . 0 1
0 1 2 3 1 4 C1
1 1 1 4 1 4
Counter Number ( C1 to CF )
000000 to 999999 or
Current Value: V1 to V8, A1 to A8, T1 to TF, C1 to CF
5-30
GFK-2470A
RTC Type: 1 or 2
S AMO
1
0 1 : 2 3
1 1 : 1 4
R1
RTC Number ( R1 to RF )
00:00 to 23:59
00:00 to 23:59
RTC Type: 3
6 8 6 1
3
0 1 . 2 3
1 1 . 1 4
R1
RTC Number ( R1 to RF )
01.01 to 12.31
01.01 to 12.31
RTC Type: 4
SU
0 7 : 1 1 R1
: 20
RTC Number ( R1 to RF )
5-31
A1
A2
G1
1 1 . 2 3 V
C1 to CF, C1 to C8
HMI Format
Select Type 1 or 2
H1
HMI Number H1 to HF
PWM Format
When Selected Number is 1, Input 3 is Off, Input 2 is Off, Input 1 is Off.
When Selected Number is 2, Input 3 is Off, Input 2 I Off, Input 1 is On..
When Selected Number is 8, Input 3 is On, Input 2 is On, Input 1 is On.
Select Number 1 to 8
Set Input 1
Set Input 2
Set Input 3
5-32
1
I 1
I 2 0 6 8 0 1
I 3 0 0 1 2 3
P 1
PWM Number 1
00001 to 32767
00001 to 32767
GFK-2470A
5
Data Link Format, Type 1
Type 1: Send Status from
Send Instruction I, M, Q, X, Y
8 1 0 1 0 8
L1
W0 1 0 8
Select Instruction
Number range
1 to 8
Receive Instruction I, M, Q, X, Y
8 X0 1 0 8
L1
W1 7 2 4
GFK-2470A
5-33
Column
1 2
Line 1
L A
2 > F U
3
R U
4
C L
Column
Line 1
2
3
4
Column
Line 1
2
3
4
D D E R
N . B L O C K
N
E A R
P R O G .
3
1
1
0 0 . 0 0
6 7
1
1
0 0 . 0 0
6 7
T 1
6 7
T 1
Column
Line 1
2
3
4
Column
Line 1
2
3
5-34
1
1
0 0 . 0 3
4
Column
Line 1
2
3
4
1
1
0 0 . 0 0
4
Column
Line 1
2
3
1
1
0 0 . 0 0
1
1
0 0 . 0 3
6 7
T 1
6 7
T 1
6 7
T 1
6 7
T 1
GFK-2470A
Column
Line 1
2
3
4
Press .
6 7
1
1
0 0 . 0 3
T 1
2
1
Press .
3
3 3 . 3 3
T 1
4
Column
Line 1
2
3
4
Column
Line 1
2
3
Column
Line 1
2
3
GFK-2470A
6 7
T 1
6 7
T 1
6 7
1
1
V 1
4
Column
Line 1
2
3
1
1
0 0 . 0 0
1
1
0 0 . 0 0
T 1
6 7
1
1
A 1
T 1
5-35
Column
Line 1
2
3
1
1
T 1
4
Column
Line 1
2
3
T 1
1
1
C 1
6 7
6 7
T 1
Column
Line 1
2
3
Column
Line 1
2
3
4
1
1
A 3
6 7
T 1
1
1
A 3
6 7
T 1
5-36
Column
1
Line 1
2
2
3 C L
4 E S
E A R
C
?
6 7
B L O C K
O K
?
GFK-2470A
The programming software has two separate programming modes: Ladder Logic and Function
Block Diagram. After the Ladder Logic or Function Block Diagram mode is selected on the
software startup screen, all software operations continue in that mode.
This chapter explains how use the programming software for programming, simulation, and
emulation in Ladder Logic mode. Similar instructions for using Function Block Diagram mode
are in chapter 7.
GFK-2470A
6-1
6-2
GFK-2470A
Open an existing ladder logic program, or select New to create a new application program.
GFK-2470A
6-3
Select Model:
KeyPad:
I1
M1
6-4
(T 1
(C 1
GFK-2470A
Ladder:
Switch to the softwares ladder logic display to create or edit the current
Ladder Logic program. This is the recommended method.
Clear Comments: Remove any Ladder Logic comments on the program screen.
Find:
Replace:
GFK-2470A
6-5
6
HMI/Text:
Use this function to program or edit the HMI; display custom messages,
change the Timer/Counter/RTC/Analog Preset Value and set instruction M to
On/Off in Run Mode. This screen has a tab for each custom screen that can
be set up.
Click on the Text Input characters at the bottom of the window to enter text in
the LCD format area at the top of the tab, as illustrated above.
The Display box must be checked to enable a page to be displayed on the
controller.
If the HMI screen should show Timer/Counter/Analog/Coil Status, select the
items to display on each line. When the HMI is enabled, it shows the current
value. For A1 to A4, it equals (input value * Gain + Offset). For A5 to A8, it
equals (input value*10). During system operation, items on the HMI screen can
be edited as appropriate.
If the HMI screen should show the current status of I, M, X, and/or Z coils,
select them from the dropdown lists.
6-6
GFK-2470A
Analog Display Set: Click on this to enter the Gain and Offset for individual
analog inputs in the following window:
If the HMI screen should include a phone number, type it in the Phone Number
field and click Add. If Error Message HMI Text has been enabled, the controller
will automatically send a message.
Symbol
GFK-2470A
6-7
Monitor:
Select Monitor to view the current status of all the program instructions and
functions when the software is linked with the controller.
Caution
6-8
GFK-2470A
Simulator:
GFK-2470A
6-9
6
Simulator in Ladder Logic Mode
In this mode, the screen shows the Ladder Logic program and simulation tools.
Stop !
6-10
GFK-2470A
Quit
Read:
Reads the program from the controller. The computer must be linked with the
controller.
Write:
Writes the program to the controller. The computer must be linked with the
controller.
RTC Set:
When linked with the controller, the Real-time Clock value can be set. If not
linked with the controller, the computer will display its own clock value.
For example, for input A1, the Gain is set to 100 and the Offset is set to +10. If
input A1 has an analog voltage of 6.80 volts, the HMI text (voltage x Gain +
Offset) for input A1 will be equal to: (6.80V * 100) + 10 = 690. So the input
value will be displayed as 690.
GFK-2470A
6-11
6
Password:
Change Password
Language:
6-12
GFK-2470A
When linked with the controller, the ID value and Remote I/O, Expand
I/O, M Keep, C Keep, and Back Light mode can be read or set.
Remote I/O: Sets the controller mode in
multidrop operation.
No Expansion I/O: Controller does not
control slaves but Data Link function is
available
Controller ID
Sets the controller ID
in a multidrop serial
network.
Number of Analog
Expansion modules
Sets the computer serial port address to link with the controllers (COM1COM8).
GFK-2470A
6-13
I/O:
Function:
Moving the cursor onto a function displays the Current and Preset Value.
Capacity:
Input Status Tool: Can be used by the controller in Monitor or Simulation Mode. In Simulation
mode, can turn I , X, and M points On or Off. In Monitor mode, can turn only
M points On or Off.
6-14
GFK-2470A
Simulation Analog Tool: Can be used by the controller in Simulation or Ladder Logic mode for
A01A04. The controller can use the analog inputs as discrete inputs.
On >= 9.80V, Off <= 4.90V
If A1 >= 9.80V Input I9 is On, if A1 <= 4.90V Input I9 is Off,
if A2 >= 9.80V Input IA is On, if A2 <= 4.90V Input IA is Off,
if A3 >= 9.80V Input IB is On, if A3 <= 4.90V Input IB is Off,
if A4 >= 9.80V Input IC is On, if A4 <= 4.90V Input IC is Off.
Expansion Analog Tool: Like the Analog Simulation tool, described above for analog inputs
A05A08. Can be used by the controller in Monitoring or Simulation Mode.
High Speed Input Tool: Can be used by the controller in Simulation Mode to simulate the High
Speed 1K Hz Input I1 and I2 for Counter function type 7 and 8. When Input
I1/I2 status Off to On, the current count value is added to the I1/I2 Input
Value.
Temperature Input Tool: Can be used by the controller in Monitoring or Simulation mode for
temperature inputs AT01AT04.
GFK-2470A
6-15
Differential
HMI/Text display
PWM
Data Link
Connect instructions
Connect rungs
Delete instruction or rung
Insert instruction or rung
Edit program comment
6-16
GFK-2470A
Use the A and L keys to complete parallel and serial circuits. The rightmost column is for
output coils.
GFK-2470A
6-17
6-18
GFK-2470A
Function Performed
Right-Click on SEL,
then Left-Click On
Function Performed
DELete
Delete an instruction
DELete
SELect
Select an instruction
SELect
ESCape
ESCape
OK
OK
Left Arrow
Left Arrow
Right Arrow
Right Arrow
Up Arrow
Move cursor up
Up Arrow
Page up
Down Arrow
Down Arrow
Page down
GFK-2470A
6-19
6
Using the Computer Keyboard for Keypad Operations
The computer keyboard can also be used to perform the keypad functions.
Controller Keypad
6-20
Computer Keyboard
Up Arrow
Down Arrow
Left Arrow
Right Arrow
SELect
DELete
ESCape
OK
GFK-2470A
7
This chapter explains how navigate the controller LCD screens and make changes using the
controller keypad, in Function Block mode.
Startup Screen
Edit Parameters
Write a Program
Read a Program
Edit Parameters
GFK-2470A
7-1
Keypad Overview
Select (SEL) Used to select the available memory and instruction types for editing. Holding the
Select button will display all H HMI/Text messages on the LCD.
OK Used to accept the selection displayed of an instruction or function. It is also used to select any
of the Main Menu options on the LCD.
Note:
Press the SEL and OK simultaneously to insert a rung above the current active cursor
position.
Escape Used to exit a selected display screen and go to the previous screen. When in a ladder
display screen, press the ESC to display the main menu.
Delete Used to delete an instruction or rung from the ladder program.
The four navigation buttons () are used to move the cursor throughout the functions of the
display or active program. The four buttons also can be set programmable input coils Z01Z04 (=
Z01, =Z02, =Z03, =Z04);
7-2
GFK-2470A
Startup Screen
By default, the controller LCD screen shows:
Input On / Off
States
= On
Point
Numbers
=Off
Output On /
Off States
Run / Stop
Mode
Real-Time Clock
Day, Date: Month
ESC
SEL+
or
SEL+
or
SEL
SEL + OK
GFK-2470A
7-3
Use the Up arrow and Down arrow keys to select items from the Main Menu.
Press OK to confirm a selection.
Use the ESC key to go back to the initial screen.
> F U N B L OC K
P A R A ME T E R
RUN
C L E A R P R OG .
WR I T E
RE ADP
SET
RT C S E T
A N A L OG S E T
P A S S WO R D
L A N GU A G E
I N I T I AL
> F U N B L OC K
P A R A ME T E R
S T OP
WR I T E
RT C S E T
P A S S WO R D
L A N GU A G E
OK
ESC
7-4
GFK-2470A
7
Edit Function Blocks
Select FUNctionBLOCK and press OK. See Function Block Editing on the Controller later in this
chapter for instructions.
Edit Parameters
Select PARAMETER from the menu to edit block parameters. See Parameter Editing on the
Controller later in this chapter for instructions.
F U N B L OC K
P A R A ME T E R
> R UN
C L E A R P R OG .
Selecting RUN places the controller in Run mode. Selecting STOP places the controller in Stop
mode.
F U N B L OC K
P A R A ME T E R
R UN
> C L E A R P R OG .
Write a Program
Select Write from the menu (by scrolling down) to write the program from the controller to the
Memory Option Module.
P A R A ME T E R
R UN
C L E A R P R OG .
> WR I T E
GFK-2470A
7-5
Read a Program
In Stop mode, select Read from the menu (by scrolling down) to read the program from the Memory
Option Module to the controller.
R UN
C L E A R P R OG .
WR I T E
> R E AD
Change the Controller Setup
In Stop mode, select Set from the menu (by scrolling down) to change the setup parameters for the
controller.
C L E A R P R OG .
WR I T E
R E AD
> S ET
Select the setup parameters:
Set ID Number (00 to 99)
I D SET
00
R E MO T E I / O N
B A C K L I GHT
M KE E P
I / O N U MB E R : 0
I / O A L A R M:
C KEE P
Z SET
7-6
GFK-2470A
WR I T E
R E AD
S ET
>RTC S ET
Controller version
RT C S E T V X . X
03 . 06 . 23
MO 0 9 : 3 7
SEL + /
SEL + /
OK
Save the RTC Time, finish the original screen setting, then display the initial programming screen,
ESC
GFK-2470A
1.
2.
7-7
Description
Error Action
ROM ERROR
Vpd ERROR
PROG ERROR
LOGIC ERROR
EXT. ERROR
COMM ERROR
Warning only
RTC ERROR
Warning only
EMPTY PACK
Warning only
MEM ERROR
Warning only
7-8
GFK-2470A
R E AD
S ET
RTC S ET
> A N A L OG S E T
A 1 = GA I N : 0 1 0
OF F S E T : + 0 0
A 2 = GA I N : 0 1 0
OF F S E T : + 0 0
A 3 = GA I N : 0 1 0
OF F S E T : + 0 0
A 4 = GA I N : 0 1 0
OF F S E T : + 0 0
A 5 = GA I N : 0 1 0
OF F S E T : + 0 0
A 6 = GA I N : 0 1 0
OF F S E T : + 0 0
A 7 = GA I N : 0 1 0
OF F S E T : + 0 0
A 8 = GA I N : 0 1 0
OF F S E T : + 0 0
For example, for input A1, the Gain is set to 100 and the Offset is set to +10. If input A1 has an
analog voltage of 6.80 volts, the HMI text (voltage x Gain + Offset) for input A1 will be equal to:
(6.80V * 100) + 10 = 690. So the input value will be displayed as 690.
GFK-2470A
7-9
S ET
RTC S ET
A N A L OG S E T
> P A S S W OR D
Set the Password
If a password is set, the password must be used to enter either Ladder Logic or Function Block
mode. In addition, the password is required to use the ESC button to exit the homepage while the
controller is in Run mode. If the password is forgotten, the only way to recover is to clear the
program.
Valid range for the password is 0001FFFE.
P A S S WOR D
P A S S WOR D
0123
****
OK
P A S S WOR D
0123
7-10
P A S S WOR D
OK
0000
GFK-2470A
RTC S ET
A N A L OG S E T
P A S S WO R D
> L A N GU A GE
GFK-2470A
7-11
1 2 3 4 5 6 7 8 9 AB C
Down
Arrow
Down
Arrow
RUN
WE 0 9 : 2 4
A1 = 6
A2 = 1
A3 = 4
A4 = 1
.
.
.
.
8 3V
3 3V
8 7V
5 4V
Up
Arrow
Analog Input
Values
Up
Arrow
1 2 3 4 5 6 7 8 9 AB C
Down
Arrow
DEF
N Table States
Up
Arrow
1 2 3 4 5 6 7 8 9 AB C
Down
Arrow
DEF
M Table States
Up
Arrow
1 2 3 4 5 6 7 8 9 AB C
03 .10:04
Down
Arrow
1 2 3 4 5 6 7 8 9 AB C
RUN
7-12
WE 0 9 : 2 4
GFK-2470A
Expansion
Input On/Off
States
= On
Point
Numbers
=Off
1 2 3 4 5 6 7 8 9 ABC
Expansion
Output On / Off
States
03 . 10 . 04
Real-Time Clock
Day, Date: Month
Expansion Module
Status
= On
=Not linked
= Not Set
GFK-2470A
7-13
1 2 3 4 5 6 7 8 9 ABC
Press SEL
for 3
seconds
RUN
WE 0 9 : 2 4
ESC
H1
Display H1
Up
Arrow
Down
Arrow
T0 1=1 0 0 0
C12 = 0 0 4 0
C9 9 = 0 0 2 0
SEL
Up / Down
Arrow move
Cursor
>T0 1 = 1 0 0 0
C12 = 0 0 4 0
C9 9 = 0 0 2 0
T0 1=1 0 0 0
>C12 = 0 0 4 0
C9 9 = 0 0 2 0
OK
ESC
T0 1=1 0 0 0
C12 = 0 0 4 0
C9 9 = 0 0 2 0
Up / Down
Arrow
T0 1=1 0 0 0
C12 = 1 0 4 0
C9 9 = 0 0 2 0
OK
ESC
T0 1=1 0 0 0
>C12 = 1 0 4 0
C9 9 = 0 0 2 0
T0 1=1 0 0 0
>C12 = 0 0 4 0
C9 9 = 0 0 2 0
7-14
GFK-2470A
Change a Preset
If the HMI screens have been set up in the programming software to include changing Presets, they
can be modified using the controller keypad. The following example shows how to modify the Preset
Value of C1 in Run mode. In this example, the Preset Value 000010 of counter mode 7 is used as
the Current Value of T2.
1. In the HMI screen, press SEL.
T1=00 . 00Se c
T1=00 . 05Se c
C1=000010
000000
2. Press the Down arrow to move the cursor to the C1 Preset Value position.
T1=00 . 00Se c
T1=00 . 05Se c
C1=000010
000000
3. Press SEL three times. The Preset Value changes from 000000 to A1 to T1.
T1=00 . 00Se c
T1=00 . 05Se c
C 1 =T1
000000
4. Press the Up arrow.
T1=00 . 00Se c
T1=00 . 05Se c
C 1 =T2
000000
5. Press OK to save the setting.
GFK-2470A
7-15
Coils and Contacts: Inputs, Analog Inputs, Keypad Inputs, Outputs, M Markers, N Markers, High
and Low Status, Expansion Inputs, Expansion Outputs, HMI Instructions, Datalink Outputs, PWM
Outputs, Shift Outputs, and High-speed Pulse Inputs.
Logic Blocks: AND, AND (edge), NAND, NAND (Edge), OR, NOR, XOR, NOT, and Pulse.
Description
Move the cursor
is Bxx, press to enter Bxx screen
OK
ESC
7-16
GFK-2470A
Input Terminal
Input
Keypad Input
Expansion Input
Output
Expansion Output
Auxiliary coil
Knob
HMI
PWM
SHIFT
I/O LINK
Logic /Function Block
Normal ON
Normal OFF
No Connection
GFK-2470A
I
Z
X
Q
Y
M
N
B
Hi
Lo
Nop
Output Coil
Q
Y
M
N
H
P
S
L
Range
I01-I0C(12)
Z01 Z04 (4)
X01-X0C(12)
Q01-Q08(8)
Y01-Y0C(12)
M01-M0F(15)
N01-N0F(15)
H01-H1F(31)
P01(1)
S01(1)
L01-L08(8)
B01-B99(99)
7-17
Original Screen
N O P
Step 1:
Press Left Arrow key
to move the cursor.
Step 2:
Press Up Arrow twice.
Press Up / Down
arrow to change
Q to M.
Q 0
Step 5:
Press OK to confirm
coil M09.
7-18
Q 0
Step 6:
Press Left Arrow to go
to B01.
Step 3:
Press Right Arrow to
select value.
Step 4:
Press Down Arrow six
times.
Press Up / Down
Arrow to modify
1 to 9.
N O P
B 0
GFK-2470A
ESC
M 0
N O P
Step 2:
O R
M 0
N O P
Step 3:
O R
GFK-2470A
M 0
N O P
O R
7-19
OK
ESC
Q 0
Step 2:
Press OK.
Enter Parameter
setting screen
2 :R
O N
S
F
B 0
O F
7-20
D D
T U
GFK-2470A
Editing Parameters
Select PARAMETER from the main menu to edit parameters.
GFK-2470A
7-21
Step 2:
0 11
0 11
0 11
01 1
Step 3:
Press Up Arrow
three times to
change to A2 to A4
in turn.
Step 4:
7-22
GFK-2470A
GFK-2470A
7-23
The programming software has two separate programming modes: Ladder Logic and Function
Block Diagram. After the Ladder Logic or Function Block Diagram mode is selected on the
software startup screen, all software operations continue in that mode.
This chapter explains how use the programming software for programming, simulation, and
emulation in Function Block Diagram mode. Similar instructions for using Ladder Logic mode
are in chapter 6.
Program Editing
Program Elements
Programming Steps
GFK-2470A
8-1
8-2
GFK-2470A
Create a new file. Select a controller model in the dialog box to create a new
FBD program.
Open
Close
GFK-2470A
8-3
KeyPad:
Switch to the keypad method to create or edit a program. This places the
software into keypad mode.
In Keypad mode, all the component tools are idle and the Function Block
Diagram functions are disabled. The program edited under FBD mode can be
browsed and edited.
8-4
GFK-2470A
Display
GFK-2470A
8-5
8
FBD:
Switch to the FBD mode. After switching back to Function Block Diagram mode,
the software will query whether the components should be aligned again.
Choosing Yes returns the diagram to the default alignment:
Choosing No aligns the components in the upper left corner of the FBD screen.
Find:
8-6
GFK-2470A
HMI/Text:
Use this function to program or edit the HMI, display custom messages,
change the Timer/Counter/RTC/Analog Preset Value and set instruction M to
On/Off in Run Mode.
In the parameters window, select the Units item to include units. When Units are selected, the
Preset Value and Current Value can be entered. When Units are not selected, only the current
information appears.
Select Mobile message to display the message that is associated with the HMI / Text item.
The first line displays the phone number and the other lines display the message text:
1 3 00 5 1 0 0 1 0 1
ME S S A G E
CO N T E N T
GFK-2470A
8-7
Analog Gain
(0 to 999)
Symbol:
Analog Offset
(-50 to +50)
The Symbol setting window appears when selected from the Edit menu, or
with the toolbar icon. Double click in the Symbol fields to enter text or other
identifying information for each program component. Click OK to save.
8-8
GFK-2470A
Parameters List: To display and modify all the parameters of the components under FBD
mode. Double click the component in the list to modify the parameters.
GFK-2470A
8-9
Put the controller in Run mode. If the software is linked to the controller, the
software is in supervision mode. If the software is not linked to the controller,
the software is in Simulation mode.
Stop:
Put the controller in Stop mode. If the software is linked to the controller, the
controller is set to Stop mode and the software goes to program edit mode.
Quit:
Read:
Read the program from the controller. This can only be done in FBD mode.
Write:
Write the program from the computer to the controller. The controller must be
stopped.
When linked with the controller, the ID value and Remote I/O,
Expand I/O, M Keep, C Keep, Back Light mode, and Z input setting can be
read or set.
Remote I/O: Sets the controller mode in
multidrop operation.
Controller ID
Sets the controller ID
in a multidrop serial
network.
Number of Analog
Expansion modules
8-10
GFK-2470A
RTC Set:
When linked with the controller, the Real-time Clock value can be set. If not
linked with the controller, the computer will display its own clock value.
Password:
Change Password
GFK-2470A
8-11
8
Language:
Selecting COM: Sets the computer serial port address to link with the
controllers (COM1-COM8).
Mode: Selects whether to link to one controller or to multiple units.
8-12
GFK-2470A
Display/hide the input and output state tool. The tool is only available in
the FBD edit window.
GFK-2470A
8-13
8
Simulation Analog Tool: Display/hide Analog Simulation Tool in the Analog Compare
window. The controller can use the analog inputs as discrete inputs. On >=
9.80V, Off <= 4.90V
If A1 >= 9.80V Input I9 is On, if A1 <= 4.90V Input I9 is Off,
if A2 >= 9.80V Input IA is On, if A2 <= 4.90V Input IA is Off,
if A3 >= 9.80V Input IB is On, if A3 <= 4.90V Input IB is Off,
if A4 >= 9.80V Input IC is On, if A4 <= 4.90V Input IC is Off.
Expansion Analog Tool: Like the Analog Simulation tool, described above. Can be used by
the controller in Simulation Mode.
8-14
GFK-2470A
Text Editing
For Function Block Diagram, the LCD display text can be edited as described for the following
example:
Editing data for text component H01(LCD display). When the controller is in Run mode, the
actual states or values are displayed.
Editing Data for
Text Component H01,
(Counter in mode 8)
C1=10 . 00
C1=###
#C1
C1=10 . 00
C 1 = OF F
OF F
T2=10 . 00Se c
T2=## . ##Se c
# T 1 # # ..
..
T2=10 . 00Se c
T 2 =0 0 . 0 0 S e c
00 .00
I 1=# ##
#I1
M1 = # # #
# M1
I 1 = OF F
OF F
M1 = O F F
OF F
GFK-2470A
8-15
8-16
GFK-2470A
GFK-2470A
Expansion Analog
Outputs that are On are
shown in red
8-17
8-18
GFK-2470A
GFK-2470A
8-19
Components that are On are shown in red. The Input Status Tool window displays the status
of I, Q, X, Y, M, N points in the controller.
8-20
GFK-2470A
States of the
Controller outputs
States of the
Expansion inputs
GFK-2470A
States of the
Expansion outputs
8-21
Timer
Counter
Real Time Clock
Analog
Set / Reset
Pulse
NOT
XOR
Not OR
OR
Not AND (Edge)
Not AND
AND (Edge)
AND
Shift
Data Link
PWM
HMI / Text
External Output
External Input
Low Status
High Status
N Marker
Marker
Output
Z Input
High Speed Input
V Input
Analog Input
Input
8-22
GFK-2470A
Program Editing
In the Function Block display area, add program components and set up logical connections.
Add comments wherever they are needed.
Select program components from the toolbar and click in the display area to add a component
to the program. The components parameters are displayed as the mouse stops on the
component.
GFK-2470A
8-23
Program Elements
(1) Function Name
(2) Connector
(3) Parameters
(4) Input
(5) Output
(6) Number
(7) Parameter Output
(8) Parameter Input
For all models, the maximum number of logic blocks and function blocks is 99. Blocks are
numbered as they are added to the program.
The maximum number of Counters in mode 7 and mode 8 that can be used in a program
is two (two mode 7 counters, or two mode 8 counters, or one of each).
The input pin cannot be connected with the output of the same component.
The output pins can connect with more than one input pin except in the case of high speed
input components.
The output pin on a high speed component can only connect with high speed input pins on
counter mode 7 and 8. Once connected, the output cannot be connected with the other
input pins.
8-24
GFK-2470A
Programming Steps
Select program functions from the toolbar and click in the program window to place the
component in the program.
The software assigns each block a number. For example, the first input (x) component is
marked X01. Click the mouse again to add X02.
Analog Input
GFK-2470A
8-25
8
V Input: Analog input with a
value equal to (analog input x
gain) = offset
Keypad Input
Output
N Marker
High Status
8-26
GFK-2470A
Expansion Input
Expansion Output
HMI Instruction
DataLink Output
GFK-2470A
8-27
8
PWM Output
Shift Output
8-28
GFK-2470A
The software adds the selected logic block in the program window, and assigns its number.
Clicking on the block opens a box that shows the name of the Logic Block. A Symbol
(descriptive name) can be entered for each block.
NAND (Edge)
XOR
AND (Edge)
OR
NOT
NAND
NOR
Pulse
GFK-2470A
8-29
8
Block Diagram Function Blocks
Select the function block from the toolbar.
Click in the program window to add it to the program. Each Block that is added to the program
is numbered (for example, the first Block is B01. Each block has a box where parameters can
be specified. A Symbol (descriptive name) can be entered for each block. See chapter 3 for
detailed explanations of the Function Block types and parameters.
Timer
Counter
8-30
GFK-2470A
Real-time Clock
Analog Compare
If you double-click a Function Block, you can modify its setting and symbol. When not in
simulation or monitoring, you can change the functions mode number. Changing the mode of
a function will sometimes change its pins. If the pins have been linked, the editing rules are:
1. Same number of pins or more: retains the original links, the added pin has no link.
2. Fewer pins: deletes the link as the pin is cut.
3. If the current link is illegal when changing the mode, the illegal link is deleted.
GFK-2470A
8-31
Adding Comments
Select 'Comment' and click the mouse at any position. Use the Set Comment window to enter
comments:
2.
3.
Dragging the mouse while pressing the left mouse button to draw a selection box.
4.
8-32
GFK-2470A
Adding Lines
Click the connection icon in the toolbar, then use the mouse to select the pins to be
connected.
Click
Drag
Click
Any output pin, except the output of High Speed Input components, can connect to more
than one input pin.
The output pin of a High Speed Input component can only be connected to the Cnt input of
a mode 7 or mode 8 Counter, and vice-versa.
The output pins of an Analog Input can connect with the Ax or Ay pin of Analog Compare
functions, and vice-versa.
Splitting Lines
Click the Scissor icon in the toolbar to unlink two components. Then click on the link line to be
cut. The link will disconnect to two parts. The cut place shows the original link data.
Before cut
After cut
Recover
Recover
GFK-2470A
8-33
Changing a Connection
1. Select the link.
2. Move the mouse to the pin to be changed. Press the left mouse key to move.
3. Stop at the target pin.
Adjusting Lines
1. Select the link.
2. Use the mouse to drag the red corners of the link to the new position.
Before dragging
8-34
After dragging
GFK-2470A
Alignment
Automatic: the default alignment.
Up:
GFK-2470A
8-35
8
Down: Aligns the selected components downward to the level of the lowest
selected component. For example:
Left:
8-36
Selected Components
Left-Aligned
Selected
Components
Right-Aligned
GFK-2470A
This chapter describes the MODBUS features available in a Durus controller system.
Controllers that have a RS-485 two-wire serial port provide built-in MODBUS slave
communications capability.
MODBUS slave communications can be implemented on other DURUS controllers by adding a
MODBUS RTU Slave Communications Expansion Module, 24VDC (IC210EMS001).
MODBUS Operation
MODBUS Commands
Examples
GFK-2470A
9-1
9-2
GFK-2470A
9
Normal Response
After the slave performs the function requested by the query, it sends back a normal response
for that function. This indicates that the request was successful.
Error Response
If the slave receives a query, but for some reason it cannot perform the requested function, it
sends back an error response to the master, indicating the reason the request could not be
processed. For certain types of errors, no error message is sent.
Broadcast Messages
The MODBUS master sends a broadcast message addressed to all slaves by using address 0.
Slaves do not respond to broadcast messages. However, the Master expects a delay so that
the slaves can process the request. This delay is called the Turnaround Delay. The master
goes into a Waiting Turnaround Delay state.
The Turnaround Delay must be long enough for any slave to be able to process the request
and receive a new one. Therefore, the Turnaround Delay should be shorter than the Response
Timeout. Typically, the response timeout is 1s to several seconds at 9800 bps and the
turnaround delay is 100ms to 200ms.
All slaves that receive the broadcast message perform the requested function. When a
broadcast message is sent to all slaves, they do not send responses. Instead of waiting for a
response, the master instead waits a specified length of time for the slaves to process the
request, before the master sends another message.
Master
Broadcast Message
Slave Turnaround Time
Slaves
GFK-2470A
(No Response)
9-3
MODBUS Frame
Device
Address
Data
(optional)
Function
Code
Error
Check
The Device Address field identifies the slave that will receive the data transfer.
The Function Code field is a predefined number that identifies the MODBUS query type.
A 16-bit error check (Cyclic Redundancy Check) is included as the final field of each MODBUS
query and response to ensure accurate transmission of data. This error check is applied to the
entire message frame, as shown above. It is independent of any parity checking that is done, if
configured, on the individual characters within the message.
MODBUS Operation
RTU Mode Requests
The MODBUS Master sends a request to a slave, and the slave then sends a response. The
format of the request is shown below. The data length depends on the command.
Slave Address
1byte
Function Code
Function Code
Data
N bytes
CRC16 Check
2 bytes
Signal Interval
Signal Interval.
An interval of 10ms should be maintained
between command signal and request.
9-4
00H:
01H:
0FH:
10H:
63H:
GFK-2470A
9
Supported MODBUS Function Codes
Durus controllers support the following MODBUS function codes:
01H : Read Coils Status
03H : Read register data
05H : Write single coil
06H : Write a word to register memory
08H : Loopback check
10H : Write register data.
GFK-2470A
9-5
9
Application Logic to Perform a CRC Check
UWORD ch_sum ( UBYTE long , UBYTE *rxdbuff ) {
BYTE i = 0;
UWORD wkg = 0xFFFF;
while ( long-- ) {
wkg ^= rxdbuff++;
for ( i = 0 ; i < 8; i++ ) {
if ( wkg & 0x0001 ) {
wkg = ( wkg >> 1 ) ^ 0xa001;
}
else {
wkg = wkg >> 1;
}
}
}
return( wkg );
}
TIME-OUT& RETRY
PC-LINK
PC-LINK
500ms
500ms
PC-LINK
If the Durus controller times out or detects a checksum error, PC-LINK retries a maximum of
two times. After two retries, if the error still exists, a Communication error is reported. The
default value of time-out is 500ms. When writing a function blocks preset value, the timeout
value is 1000ms.
When the MODBUS Communications Module responds with an error, wait before resetting
(MODBUS transfer 64 bytes data time); if baud rate is 4800bps, the time is 147ms; if baud rate
is 9600bps, the time is 73ms; if baud rate is 19200bps, the time is 37ms; if the baud rate is
38400bps, the time is 18ms; if baud rate is 57600bps, the time is 12ms.
9-6
GFK-2470A
9
MODBUS Commands
Read Coils, Command 01
The MODBUS master can issue MODBUS RTU command 01 to read the value of one or more
coils in the slave Durus controller. Up to 960 contiguous states of coils in a remote device can
be read.
Master Command
Slave Address
01H
Address
01H
Address
01H
Function Code
01H
Function Code
01H
Function Code
81H
*Register
Address
High
05H
Byte Count
02H
Exception Code
51H
Low
40H
45H
CRC-16
Low
81H
Number of
Coils
High
00H
34H
High
ACH
Low
10H
CRC-16
Low
3AH
CRC-16
Low
3CH
High
BBH
High
DEH
Slave Address
01H
Slave Address
01H
Slave Address
01H
Function Code
03H
Function Code
03H
Function Code
83H
00H
Exception Code
52H
CRC-16
Low
C0H
High
CDH
*Register
Address
High
00H
Data (byte)
Low
00H
Data Length
High
00H
CRC-16
Low
13H
Low
04H
High
07H
CRC-16
GFK-2470A
Low
High
9-7
Master Command
Slave Address
01H
Slave Address
01H
Slave Address
01H
Function Code
05H
Function Code
05H
Function Code
85H
High
05H
Coil Address
High
05H
Exception Code
52H
Low
02H
Low
02H
CRC-16
Low
C3H
High
FFH
High
FFH
High
6DH
Low
00H
Low
00H
Low
2DH
Low
2DH
High
36H
High
36H
Coil Address
Coil Value
CRC-16
Coil Value
CRC-16
Slave Address
01H
Slave Address
01H
Slave Address
01H
Function Code
06H
Function Code
06H
Function Code
86H
High
01H
Exception Code
52H
Low
02H
CRC-16
Low
C3H
High
17H
High
9DH
Low
70H
Low
27H
High
E2H
*Register
Address
High
01H
Low
02H
*Register
Address
Write Data
High
17H
Write Data
Low
70H
Low
27H
High
E2H
CRC-16
9-8
CRC-16
GFK-2470A
Slave Address
01H
Slave Address
01H
Slave Address
01H
Function Code
08H
Function Code
08H
Function Code
88H
High
00H
Check Code
High
00H
Exception Code
51H
Low
00H
Low
00H
CRC-16
Low
87H
High
A5H
High
A5H
High
FCH
Low
37H
Low
37H
Low
DAH
Low
DAH
High
8DH
High
8DH
Check Code
Data
CRC-16
Data
CRC-16
Address
01H
Slave Address
01H
Slave Address
01H
Function Code
10H
Function Code
10H
Function Code
90H
High
00H
Exception Code
52H
Low
00H
CRC-16
Low
ACH
High
00H
High
3DH
Low
13H
High
81H
Low
C4H
*Register
Address
High
00H
Low
00H
*Register
Address
Data Length
High
00H
Data Length
Low
13H
Byte Counters
26H
Data Content
CRC-16
CRC-16
Low
High
GFK-2470A
9-9
Exception Codes
If an error occurs, the controller returns an Exception Code (see below) and an error Function
Code to the master. The error Function Code is the sum of the command Function Code
plus 80H.
Exception Code (hex)
Description
51
52
53
54
55
Reserved
56
Reserved
57
58
59
Reserved
20
9-10
GFK-2470A
14
13
12
11
10
R10
RF
RE
RD
RC
RB
RA
R9
R8
R7
R6
R5
R4
R3
R2
R1
0001H
G10
GF
GE
GD
GC
GB
GA
G9
G8
G7
G6
G5
G4
G3
G2
G1
0002H
T10
TF
TE
TD
TC
TB
TA
T9
T8
T7
T6
T5
T4
T3
T2
T1
0003H
C10
CF
CE
CD
CC
CB
CA
C9
C8
C7
C6
C5
C4
C3
C2
C1
0004H
M10 MF
ME
MD
MC
MB
MA
M9
M8
M7
M6
M5
M4
M3
M2
M1
0005H
Z4
Z3
Z2
Z1
IC
IB
IA
I9
I8
I7
I6
I5
I4
I3
I2
I1
0006H
XC
XB
XA
X9
X8
X7
X6
X5
X4
X3
X2
X1
0007H
Q8
Q7
Q6
Q5
Q4
Q3
Q2
Q1
0008H
YC
YB
YA
Y9
Y8
Y7
Y6
Y5
Y4
Y3
Y2
Y1
0009H
N10
NF
NE
ND
NC
NB
NA
N9
N8
N7
N6
N5
N4
N3
N2
N1
H10
HF
HE
HD
HC
HB
HA
H9
H8
H7
H6
H5
H4
H3
H2
H1
000BH
W9
W8
W7
W6
W5
W4
W3
W2
W1
000CH
W32 W31 W30 W29 W28 W27 W26 W25 W24 W23 W22 W21 W20 W19 W18 W17
000DH
W48 W47 W46 W45 W44 W43 W42 W41 W40 W39 W38 W37 W36 W35 W34 W33
000EH
W64 W63 W62 W61 W60 W59 W58 W57 W56 W55 W54 W53 W52 W51 W50 W49
000FH
P2
P1
L8
L7
L6
L5
L4
L3
L2
L1
0010H
B16
B15
B14
B13
B12
B11
B10
B9
B8
B7
B6
B5
B4
B3
B2
B1
0011H
B32
B31
B30
B29
B28
B27
B26
B25
B24
B23
B22
B21
B20
B19
B18
B17
0012H
B48
B47
B46
B45
B44
B43
B42
B41
B40
B39
B38
B37
B36
B35
B34
B33
0013H
B64
B63
B62
B61
B60
B59
B58
B57
B56
B55
B54
B53
B52
B51
B50
B49
0014H
B80
B79
B78
B77
B76
B75
B74
B73
B72
B71
B70
B69
B68
B67
B66
B65
0015H
B96
B95
B84
B93
B92
B91
B90
B89
B88
B87
B86
B85
B84
B83
B82
B81
0016H
B99
B98
B97
GFK-2470A
9-11
9
Control Register Addresses (01xxH)
The master can read or write controller status or configuration data in the registers listed
below. Each register address has a length of 1 in the commands.
Register
Address
15
14
13
12
11
Register 0100H is accessible using MODBUS commands 03, 06, and 10.
Bit 0 = Controller operating mode: 0 = Stop Mode. 1 = Run Mode
Bits 1 15 not used.
Applicable for DURUS Controllers Only
0101H
(read
only)
0102H
A
Z
I1
I0
Language
Register 0102H is accessible using
MODBUS commands 03, 06, and 10.
A = Alarm at Expansion I/O Number:
0 = alarm; 1 = no alarm
Z = Z set: 0 = disable; 1 = enable
I1, I0 = Expansion I/O Number: 0 to 3
Language:
1 = English
2 = French
3 = Spanish
4 = Italian
5 = German
6 = Portuguese
7 = Chinese
P
Register 0103H is accessible using
command 03 only.
P = Password Protection
0 = Password off
1 = Password on
0103H
(read
only)
9-12
Error
Error: 0 = No error
1 = ROM error
2 = RAM error
3 = EEPROM error
4 = Program error
5 = Watchdog error
6 = Expansion error
7 = Communications error
GFK-2470A
9
Register
Address
GFK-2470A
9-13
Length
Description
9-14
GFK-2470A
Usable
Comm
Length
Description
GFK-2470A
10H
10H
------10H
03H
10H
Character 5
Character 6
------Character 64
9-15
Length
Description
9-16
GFK-2470A
Length
0460H
10
Description
Pulse Width 1 High
0461H
0462H
0463H
0464H
0465H
0466H
0467H
0468H
0469H
046AH
046BH
046CH
046DH
046EH
046FH
GFK-2470A
9-17
Length
Description
10H
R1 RF
050FH reserved
0510H-051FH
10H
G1 GF
051FH reserved
0520H-052FH
10H
T1 T1F
052FH reserved
0530H-053FH
10H
C1 C1F
053FH reserved
0540H-054FH
10H
M1 MF
054FH reserved
0550H-055FH
10H
I1 IC, Z1 - ZF
Z1 to Z4 cannot be written
0560H-056FH
10H
X1 XC
0570H-057FH
10H
Q1 Q8
0580H-058FH
10H
Y1 YC
0590H-059FH
10H
N1 NF
059FH reserved
9-18
05A0H-05AFH
10H
H1 HF
05B0H-05BFH
10H
W1 W16
05C0H-05CFH
10H
W17 W32
05D0H-05DFH
10H
W33 W48
05E0H-05EFH
10H
W49 W64
05F0H-05FFH
10H
L1 L8, P1
0A5FH reserved
GFK-2470A
03H
06H
10H
R10
G10
T10
C10
M10
M20
M30
N10
N20
N30
H10
R0F
R1F
G0F
G1F
T0F
T1F
C0F
C1F
M0F
M1F
M2F
M3F
N0F
N1F
N2F
N3F
H0F
R0E
R1E
G0E
G1E
T0E
T1E
C0E
C1E
M0F
M1E
M2E
M3E
N0E
N1E
N2E
N3E
H0E
R0D
R1D
G0D
G1D
T0D
T1D
C0D
C1D
M0D
M1D
M2D
M3D
N0D
N1D
N2D
N3D
H0D
R0C
R1C
G0C
G1C
T0C
T1C
C0C
C1C
M0C
M1C
M2C
M3C
N0C
N1C
N2C
N3C
I0C
X0C
Y0C
H0C
R0B
R1B
G0B
G1B
T0B
T1B
C0B
C1B
M0B
M1B
M2B
M3B
N0B
N1B
N2B
N3B
I0B
X0B
Y0B
H0B
R0A
R1A
G0A
G1A
T0A
T1A
C0A
C1A
M0A
M1A
M2A
M3A
N0A
N1A
N2A
N3A
I0A
X0A
Y0A
H0A
R9
R19
G09
G19
T09
T19
C09
C19
M09
M19
M29
M39
N09
N19
N29
N39
I09
X09
Y09
H09
R8
R18
G08
G18
T08
T18
C08
C18
M08
M18
M28
M38
N08
N18
N28
N38
I08
X08
Y08
Q08
H08
R7
R17
G07
G17
T07
T17
C07
C17
M07
M17
M27
M37
N07
N17
N27
N37
I07
X07
Y07
Q07
H07
R6
R16
G06
G16
T06
T16
C06
C16
M06
M16
M26
M36
N06
N16
N26
N36
I06
X06
Y06
Q06
H06
R5
R15
G05
G15
T05
T15
C05
C15
M05
M15
M25
M35
N05
N15
N25
N35
I05
X05
Y05
Q05
H05
R4
R14
G04
G14
T04
T14
C04
C14
M04
M14
M24
M34
N04
N14
N24
N34
I04
X04
Y04
Q04
Z04
H04
R3
R13
G03
G13
T03
T13
C03
C13
M03
M13
M23
M33
N03
N13
N23
N33
I03
X03
Y03
Q03
Z03
H03
R2
R12
G02
G12
T02
T12
C02
C12
M02
M12
M22
M32
N02
N12
N22
N32
I02
X02
Y02
Q02
Z02
H02
R1
R11
G01
G11
T01
T11
C01
C11
M01
M11
M21
M31
N01
N11
N21
N31
I01
X01
Y01
Q01
Z01
H01
H16
L06
W06
W16
W26
W36
H15
L05
W05
W15
W25
W35
H14
L04
W04
W14
W24
W34
H13
L03
S03
W03
W13
W23
W33
03H
(FBD
only)
GFK-2470A
W10
W20
W30
W40
H1F
W0F
W1F
W2F
W3F
H1E
W0E
W1E
W2E
W3E
H1D
W0D
W1D
W2D
W3D
H1C
W0C
W1C
W2C
W3C
H1B
W0B
W1B
W2B
W3B
H1A
W0A
W1A
W2A
W3A
H19
W09
W19
W29
W39
H18
L08
W08
W18
W28
W38
H12
L02
S02
W02
W12
W22
W32
H11
L01
S01
W01
W11
W21
W31
B16
B32
B48
B64
B80
B15
B14
B13
B12
B11
B01
B17
B33
B49
B65
H17
L07
W07
W17
W27
W37
9-19
9
Register Usable
F
Address Comm
0625H
B96
03H
(FBD B112
0626H
only)
0627H
B128
0628H
B144
0629H
B160
06AH
B176
062BH
B192
062CH
B208
062DH
B242
062EH
B240
062FH
B256
0630H
-
0
B81
B97
B113
B129
B145
B161
B177
B193
B209
B225
B241
B257
14
13
12
11
10
0101H
03H
06H
10H
00
RUN / STOP:
01
S1=0, STOP
S1=1, RUN
03H
Brand ID
V-Type Model
30=20VR-D
70=20VR-12D
34=20VT-D
74=20VT-12D
9-20
03H
06H
10H
I1
I0
L2
L1
L0
STATUS1:
A = Alarm at Expansion I/O no. unmatched
0 = alarm; 1 = no alarm
Z = Z set:
0 = Z disable; 1 = Z enable
I1, I0 = Expansion I/O Number: 0 to 3
L1, L2, L3 = Language:
1 = English
2 = French
3 = Spanish
4 = Italian
5 = German
6 = Portuguese
7 = Chinese
S1
S2
B = Backlight On or Off:
0 = Auto on/off; 1 = always on
S1 = M coil state at power down:
0 = retain; 1 = dont retain
S2 = Counter value at power down:
0 = retain; 1 = dont retain
D1, D0 = Communications mode
0 = data link
1 = remote I/O master
2 = remote I/O slave
GFK-2470A
D1
D0
9
Register Usable
Addr.
Comm.
0103H
(read
only)
03H
0104H
03H
10H
0105H
14
13
12
11
10
PA
PA = Password Protection
0 = Password off
1 = Password on
Error:
010BH
Analog 4 Offset
0110H
06H
10H
0120H
03H
10H
0129H
012BH
012DH
012FH
0127H
012EH
0125H
012CH
Clear code
0123H
012AH
Analog configuration:
Gain range: 0999
Offset range: -5050, complement
GFK-2470A
0109H
0128H
010AH
0126H
0108H
0124H
Error
Analog 1 Offset
0107H
0121H
0 = No error
1 = ROM error
2 = RAM error
3 = EEPROM error
4 = Program error
5 = Program logic error
6 = Watchdog error
7 = Expansion error
8 = Communication error
9 = RTC error
0106H
0122H
9-21
9
Current Value Registers (08xxH 11xxH)
For DURUS controllers with firmware versions 3.0 or later.
Each register address has a length of 1 in the commands.
Description
Register Usable
Address Comm.
Comments
081EH
081FH
------08F9H
03H
Scale: 00009999
093CH
093DH
093EH
093FH
.
0AF2H
0AF3H
9-22
03H
Scale: 00009999
.
CFA current value
Middle byte
00
GFK-2470A
9
Description
Register Usable
Address Comm.
Comments
03H
10H
Current Year
Current Day
Current Hour
Current Second
00
00
00
00
00
00
00
Current Month
Current Week
Current Minute
00
Current Year
Current Month
Current Day
Current Week
Current Hour
Current Minute
Current Second
Scale:
Year: 00009999
Month: 012
Day: 0131
Week: 0006
Hour: 1123
Minute: 0059
Second: 0059
03H
Scale: 00009999
03H
03H
03H
00
P01: mode 1
PWM mode
P01: mode 2
PLSY mode
P02:
PWM mode only
03H
Scale: -10006000
GFK-2470A
03H
Scale:
Voltage Mode:
01000
Current Mode:
0500
9-23
9
Description
Register Usable
Address Comm.
Comments
0C1EH
0C1FH
.
0CF9H
03H
Scale:
-3276832767
03H
Scale:
-3276832767
03H
Scale:
-3276832767
0F1EH
0F1FH
0FF9H
03H
Scale:
-3276832767
100EH
100FH
101DH
03H
Scale:
-032767
11EFH
9-24
03H
Scale:
Signed:
-3276832767
Unsigned: 065535
GFK-2470A
9
Preset Value Registers (12xxH 26xxH)
For DURUS controllers with firmware versions 3.0 or later.
Each register address has a length of 1 in the commands.
Description
Register Usable
Address Comm.
Comments
121EH
121FH
------12F9H
03H
06H
10H
Scale:
0000009999
133CH
133DH
133EH
133FH
.
14F2H
14F3H
GFK-2470A
03H
06H
10H
Scale:
0000009999
Cant read or write
mode 8.
.
CFA preset value
Middle byte
00
9-25
9
Description
Register Usable
Address Comm.
Comments
155AH
155BH
155CH
155DH
155EH
155FH
17EBH
17ECH
17EDH
03H
06H
10H
Note 3.
181EH
181FH
18F9H
03H
06H
10H
Scale: 00009999
190EH
190FH
1910H
1911H
1912H
1913H
191CH
191DH
191EH
191FH
9-26
03H
06H
10H
Scale:
P01P02 PWM
mode
PW18: 032767
PT18: 132767
P01 PLSY Mode
Frequency:
00011000
Pulse Number:
0000032767
GFK-2470A
9
Register Usable
Address Comm.
Description
Comments
1A5AH
1A5BH
1A5CH
1A5DH
1A5EH
1A5FH
1CEBH
1CECH
1CEDH
03H
06H
10H
Scale:
-3276832767
1FEBH
1FECH
1FEDH
03H
06H
10H
Scale:
-3276832767
2054H
2055H
2056H
2057H
2058H
2059H
GFK-2470A
03H
06H
10H
03H
06H
10H
Scale:
SV: -3276832767
PV: -3276832767
Ts: 132767
Kp: 132767
Ti: 132767
Td: 132767
9-27
9
Register Usable
Address Comm.
03H
205AH
06H
205BH
10H
205CH
205DH
205EH
205FH
20AEH
20AFH
20B0H
20B1H
20B2H
20B3H
Description
Comments
2178H
2179H
217AH
217BH
217CH
217DH
217EH
217FH
24E4H
24E5H
24E6H
24E7H
03H
06H
10H
Scale:
-3276832767
2564H
2565H
2566H
2567H
2568H
2569H
9-28
03H
06H
10H
03H
06H
10H
03H
Scale:
LEVEL1:
-1000020000
LEVEL2:
-1000020000
MAXL:
-1000020000
StSp: 020000
Rate: 010000
A: 001000
B: -1000010000
9
Register Usable
Address Comm.
06H
256AH
10H
256BH
256CH
256DH
03H
25CBH
06H
25CCH
10H
25CDH
25CEH
25CFH
25D0H
25D1H
Description
Comments
26EFH
03H
06H
10H
Scale:
Signed:
-3276832767
Unsigned: 065535
GFK-2470A
03H
06H
10H
Scale:
Voltage mode:
01000
Current mode:
0500
9-29
Data Length
Usable Comm.
Content
Comments
10H (Read)
2B20H2B3FH
01H
05H
R01R1F
2B1FH, reserved;
G01G1F
2B3FH, reserved;
2B40H2B5FH
T01T1F
2B5FH, reserved;
2B60H2B7FH
C01C1F
2B7FH, reserved;
2B80H2BBFH
M01M3F
2BBFH, reserved;
2BC0H2BFFH
N01N3F
2BFFH, reserved;
2C00H2C0FH
I01I0C
2C0CH2C0FH, reserved;
2C10H2C1FH
X01X0C
2C1CH2C1FH reserved;
2C20H2C2FH
Y01Y0C
2C2CH2C2FH, reserved;
2C30H2C3FH
Q01Q08
2C38H2C3FH, reserved;
2C40H2C4FH
Z01Z04
10H (Read)
H01H31
2C6FH, reserved;
L01L08
2C78H2C7FH, reserved;
2C80H2C8FH
2C83H2C8FH, reserved;
2C90H2CCFH
W01W64
2D00H2E0FH
B001B260
2C70H2C7FH
01H
05H
Notes:
For command 01H (read word coil status), the starting address and the number of coils
must be a multiple of 10H.
9-30
GFK-2470A
Configuration
DURUS Development Software
To use the built-in port, the following settings must be selected in the OperationModule
System Set dialog box. They can also be set using the keypad.
You can also set Communication Mode and Baud Rate in the Module System Set dialog box.
The following table lists the communications options available. Maximum frame length is
128 bytes.
8/N/2 Data 8bit, No Parity, 2 Stop bit.
Comm. Mode
Baud Rate
GFK-2470A
4800 bps
9600 bps
19200 bps
38400 bps
57600 bps
115200 bps
9-31
9
Keypad Settings
Set Communication Format and Baud Rate
Press UP/DOWN makes the LCD to display the options as shown below.
System Settings
Communications Settings
To set Comm. Mode, change the high bit; to set Baud Rate, change the low bit.
Content
High bit
Low bit
Data
Meaning
4800 bps
9600 bps
19200 bps
38400 bps
57600 bps
115200 bps
38400bps
Data bit
Stop bit
Parity
No
128 bytes
9-32
GFK-2470A
9
Hardware Installation
DURUS
DURUS
DURUS
DURUS
A bus segment must be terminated at both ends with an impedance of 120 Ohms, 0.25 Watts.
GFK-2470A
9-33
Retractable
Mounting Feet
Retractable
Mounting Feet
Module Specifications
Ports
Topology
Master/Slave
Baud Rates
Slave Addresses
0199
64 bytes
Commands Supported
0x01
0x03
0x05
0x06
0x08
0x10
9-34
Read coils
Read registers
Write single coil
Write single Register
Diagnostics (sub-function 00 00 only)
Write multiple registers
GFK-2470A
9
Module Dimensions
Communications Parameters
Baud rate, stop bits and parity bit can be selected using the eight-position DIP switch on the
front of the module. The maximum frame length is 64 bytes. The address of the module is the
number of the slave Durus controller.
Controller
(PLC / HMI / Computer)
RS-485 Interface
Modbus Module
Modbus Module
Modbus Module
Port A
Port B
Port A
Port B
120 Ohm
Watt
Port A
Port B
120 Ohm
Watt
A bus segment must be terminated at both ends with an impedance of 120 Ohms, 0.25 Watts.
Built-in termination can be selected using the two-position DIP switch on the front of the
module.
GFK-2470A
9-35
Disable
Description
off
off
off
off
4.8Kbps
on
off
off
off
9.6Kbps
off
on
off
off
19.2Kbps
on
on
off
off
38.4Kbps
off
57.6Kbps
on
38.4Kbps
on
*
* Can be on or off.
Switches 45 select stop and parity check bits.
Stop and
Parity Check
4
Disable
Not Used
7
Description
off
off
off
off
on
off
on
off
off
on
on
on
on
* Can be on or off.
9-36
Description
RUN (green)
ERR (red)
COM (yellow)
GFK-2470A
9
Bus Termination
The first and last station in a bus segment must be terminated. If the MODBUS Expansion
module is at the end of a bus segment, set the two-position termination DIP switch on the front
of the module to the On position.
SW2 1
SW2 2
Termination
Off
Off
Off
On
On
On
Power Wiring
In the diagram:
MODBUS Wiring
GFK-2470A
9-37
Examples
This section contains sample logic for performing MODBUS read/write functions. For details on
MODBUS functions, refer to Chapter 4.
Example 1
In this example, the master reads a register in the slave device that is assigned ID2.
System Settings
ID: Must be non-zero.
Remote I/O should be set to No.
9-38
GFK-2470A
9
Ladder Logic
The program before run
Operation
When Z01 is enabled, the MU instruction starts to send the read command.
Master command:
02 03 00 0A 00 01 (A4 3B)
Slave address + 03H (read function code) + 000A (data address)+ 0001(Data length) +
A43B(CRC)
GFK-2470A
9-39
9
Slave response:
02 03 02 00 00 (FC 44)
Slave address + 03H (read function code)+02 (Data length)+0000 (returned data)+FC44
(CRC)
DR01 is the read register address: 0A
DR02 is the register length: 1
DR03 is the address store the data response by slave unit: 0000
9-40
GFK-2470A
Example 2
In this example, the master writes a value to a single register in the slave device that is
assigned ID2.
System Settings
Same as Example 1 on page 9-38.
Ladder Logic
The program before run
GFK-2470A
9-41
Operation
When Z01 is enabled, the MU instruction starts to send the write single register command.
Master command:
02 06 00 0A 00 0F (E9 FF)
Slave address + 03H (write function code) + 000A (data address)+ 000F(Write Data) +
E9FF(CRC)
Slave response:
02 06 00 0A 00 0F (E9 FF)
Slave address + 03H (write function code) + 000A (data address)+ 000F(Write Data) +
E9FF(CRC)
DR01 is the write register address : 0A
DR02 is the write data register : 0F
9-42
GFK-2470A
Example 3
In this example, the master reads a coil in the slave device that is assigned ID2.
System Settings
Same as Example 1 on page 9-38.
Ladder Logic
The program before run
GFK-2470A
9-43
9
Operation
When Z01 is enabled, the MU instruction starts to send the read coil command.
Master command :
02 01 05 10 00 10 (3C FC)
Slave address + 01H (read coil function code) + 510H (data address)+ 0010H(length) +
3CFC(CRC)
Slave response :
02 01 02 01 00 FC 6C
9-44
GFK-2470A
Example 4
In this example, the master writes a value to a single coil in the slave device that is
assigned ID2.
System Settings
Same as Example 1 on page 9-38.
Ladder Logic
The program before run
GFK-2470A
9-45
9
The program on run status
Operation
When Z01 is enabled, the MU instruction starts to send the write single coil command.
Master command:
02 05 05 10 FF 00 (8D 00)
Slave address + 05H (write coil function code) + 510H (data address)+ FF00H( write data) +
3CFC(CRC)
Slave response:
02 05 05 10 FF 00 (8D 00)
9-46
GFK-2470A
10
This chapter describes the PROFIBUS-DP features that can be incorporated into a DURUS
controller system by including a PROFIBUS-DP Slave Communications Expansion Module,
24VDC (IC210EPS001).
Overview
Specifications
Operation
Installation
Startup
Control Commands
GFK-2470A
10-1
10
Overview
The PROFIBUS-DP Slave Communications Expansion Module, 24VDC (IC210EPS001)
always operates as network slave (2 below).
10-2
GFK-2470A
10
GFK-2470A
10-3
10
Specifications: PROFIBUS-DP Expansion Module
Item
Specification
DC24V
Ambient
Operation temperature
0 55 degrees C
Storage temperature
-40 70 degrees C
Operation humidity
Environmental gas
Vibration resistance
IEC60068-2-6 standard
0.075mm amplitude/1.0g acceleration
Impact resistance
IEC60068-2-27 standard
15g peak, 11ms duration
Degree of protection
IP20
Installation method
Function
Slave
Connection
9-pole socket
Interface
RS-485
Baud rate
Bus termination
On communication module 1
Station address
Services
Main setup
Installation
PROFIBUS-DP
10-4
Controller Synchronization
Slave output
synchronization
GFK-2470A
10
Operation
The following data can be transferred if appropriate module in GSD file is selected.
All coils: I1-IC, X1-XC, M1-MF, Q1-Q8, Y1-YC, T1-T1F, C1-C1F, G1-GF, R1-RF
T1-T1Fs current value and preset value
C1-C1Fs current value and preset value
G1-GFs current value and preset value
RTCs current value and R1-RFs preset value
PWMs current value and preset value
Controllers Run/Stop status
GFK-2470A
10-5
10
Installation
1. Connect the expansion connector to the PROFIBUS-DP Slave expansion module.
2. Connect the expansion module to the controller module. See chapter 2 for additional
installation instructions.
There can be at most three I/O expansion modules and one 4AI expansion modules between
the PROFIBUS-DP Expansion module and the controller.
The number of I/O modules in the setup menu of the controller must match the number of
connected modules.
Electrical Isolation
The following electrical isolation is provided for the PROFIBUS-DP Expansion module:
10-6
1.
2.
GFK-2470A
10
3.
4.
GFK-2470A
10-7
10
PROFIBUS-DP Bus Connection
Use a 9-pole PROFIBUS-DP plug and cable to connect the PROFIBUS Expansion Module to
the PROFIBUS-DP field bus.
Pin
Signal name
Description
Unused
Unused
Unused
DGND (2M)
VP (2 P5)
+5V DC
Unused
RxD/TxD-N (A-Line)
Unused
Bus Termination
The first and last station in a bus segment must be terminated. If the PROFIBUS-DP
Expansion module is at the end of a bus segment, set the termination switches on the front of
the module to the On position.
SW2 1
SW2 2
Termination
Off
Off
Off
On
On
On
Cable type A
Cable type B
Impedance
Capacitance
<30Pf/m)
<60Pf/m
Resistor
<110/KM
-----
Core cross-section
10-8
GFK-2470A
10
Data Transfer Rate
The PROFIBUS-DP Expansion module can automatically detect the baud rate used in the
PROFIBUS-DP network at powerup, if there is at least one master station that can send valid
telegrams in the network. The data rate can be 9.6K bps to 12Mbps.
GFK-2470A
9.6
1200
19.2
1200
45.45
1200
93.75
1200
187.5
1000
500
400
1500
200
3000
100
6000
100
12000
100
10-9
10
Startup
Before switching on the PROFIBUS-DP Expansion module, be sure it is properly connected to
the power supply, to the bus, and to the Durus controller. Before the module can communicate
it must be assigned a Station Address as described below.
SW1-6
SW1-5
SW1-4
SW1-3
SW1-2
SW1-1
address
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
OFF
OFF
OFF
OFF
OFF
ON
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
OFF
OFF
OFF
OFF
ON
OFF
OFF
---
---
---
---
---
---
---
---
ON
ON
ON
ON
ON
OFF
ON
125
ON
ON
ON
ON
ON
ON
OFF
126
BUS
10-10
On green
Flashing yellow
4Hz
Flashing yellow,
2Hz
Off
On green
Off
GFK-2470A
10
=1
=1
=1
=1
=1
=1
=1
=1
=1
=1
MaxTsdr_9.6
= 60
MaxTsdr_19.2
= 60
MaxTsdr_93.75
= 60
MaxTsdr_187.5
= 60
MaxTsdr_500
= 100
MaxTsdr_1.5M
= 150
MaxTsdr_3M
= 250
MaxTsdr_6M
= 450
MaxTsdr_12M
= 800
;<Model definition unit>
Implementation_Type ="SPC3"
Slave_Family
=2@TAIAN@Durus
GFK-2470A
;2:SWITCH taian:firstfile
10-11
10
Durus :secondfile
Bitmap_Device
="Durus"
Bitmap_Diag
="Durus"
;Bitmap_SF
="SF_STAT"
; OrderNumber
="IC210EPS001"
Freeze_Mode_supp
=1
Sync_Mode_supp
=1
Auto_Baud_supp
=1
Set_Slave_Add_supp = 0
Redundancy
=0
Repeater_Ctrl_Sig
=0
Fail_Safe
=0
Min_Slave_Intervall
=10
24V_Pins
=0
;supported
;supported
;Supported
;can not change via profibus
;not supported
;NOT CONNECTED
;a poll cycle of 1ms(10*100us)
;NOT CONNECTED
Modular_Station
=1
Max_Module
=5
Modul_Offset
=1
Max_Input_Len
=23
Max_Output_Len
=19
Max_Data_Len
=42
Max_Diag_Data_Len =10
Max_User_Prm_Data_Len =0
; Diagnostics unit
Unit_Diag_Bit(0)
= "not connected with DURUS"
; Module-Definitions:
Module
=" Control commands, 14 bytes" 0XBD
1
EndModule
Module
=" Inputs, 7 bytes"
0X96
2
EndModule
Module
=" Inputs, 2 byte"
0X91
3
EndModule
Module
=" Outputs, 2 bytes " 0XA1
4
EndModule
Module
="Outputs, 3 byte"
0XA2
5
EndModule
10-12
GFK-2470A
10
PROFIBUS Functions Defined in the GSD File
The GSD file for the PROFIBUS-DP Expansion module defines five different operating
modules, which can be selected network configuration tools. These modules are described in
detail starting on the next page.
Operating Module
Control
Command
Input /
Output
Module 1
Input / Output
(Byte)
Input / Output
14 bytes
Module 2
Input 7 bytes
Module 3
Input 2 bytes
Module 4
Output 2 bytes
Module 5
Output 3 bytes
Service
Code
(hex)
0XBD
0X96
Coil (M)
0X91
Coil (M)
0XA1
Coil (Q, Y)
0XA2
Diagnostics Data
Number
Name
Length
Diagnostics
Reserved
0x00
Reserved
0x00
GFK-2470A
10-13
10
Reading and Writing Durus Controller Data
By selecting input and output modules in the network configuration, the PROFIBUS-DP
Master can read or write Durus Controller data. See the bit definitions at the bottom of the
page.
Input Module 2 reads 7 bytes of data in the I (input) X (expansion input), Q (output), and Y
(expansion output) tables:
Byte
Contains
Description
0
1
2
3
4
5
6
COIL (I_L)
COIL (I_H)
COIL (X_L)
COIL (X_H)
COIL (Q)
COIL (Y_L)
COIL (Y_H)
Inputs 1 - 8
Inputs 9 - 12
Expanded Inputs 1 - 8
Expanded Inputs 9 - 12
Outputs 1 - 8
Expanded Outputs 1 - 8
Expanded Outputs 9-12
Byte
Contains
Description
0
1
COIL (M_L)
COIL (M_H)
Internal coils 18
Internal coils 915
Output Module 4 sets or clears bits in 2 bytes of data in the M (internal coils) table:
Byte
Contains
Description
0
1
COIL (M_L)
COIL (M_H)
Internal coils 18
Internal coils 914
Output Module 5: sets or clears bits in 3 bytes of data in the Q (output) and Y (expansion
output) tables.
Byte
Contains
Description
0
1
2
COIL (Q)
COIL (Y_L)
COIL (Y_H)
Outputs 18
Expanded Outputs 18
Expanded Outputs 912
Bit Definitions
Within each type of coils table (I, X, Q, Y, M), the bits assignments are:
Byte1
Bits
7
0
0
0
10-14
6
0
0
15
5
0
0
14
4
0
0
13
3
0
12
12
Byte0
Bits
2
0
11
11
1
0
10
10
0
0
9
9
7
8
8
8
6
7
7
7
5
6
6
6
4
5
5
5
3
4
4
4
2
3
3
3
1
2
2
2
0
1
1
1
Coils Q
Coils I, X, Y
Coils M
GFK-2470A
10
Control Commands
The Command Control module allows extended data exchange services on the PROFIBUSDP network. If this module is selected through network configuration tools, the PROFIBUS
Master can read or write the following Durus controller data:
Coil states
0 = Read
1 = Write
Toggle Bit
Function Code:
0 = Read / write status of controller (Run / Stop)
1 = Read / write coils
2 = Read / write function block values
3 to 31 = Reserved
GFK-2470A
10-15
10
Read or Write Controller Run / Stop Status Command
For a Read / Write Controller Run / Stop Status command, the complete format is:
Command
Response
Meaning
Master
Read
00H/80H
Write
40H/C0H
Slave
Read successful
82H/02H
Write successful
81H/01H
Command rejected
80H/00H
Type
00H
00H
Index
00H
00H
Length
01H
01H
Data
Read
00
See below
Write
See below
00
Bit 0 of the data read or written using the Read or Write Controller Run/Stop Status command
indicates the controller state. Stop = 0, 1 = Run. All other bits are 0.
Bit
Value
Description
Stop
Run
10-16
GFK-2470A
10
Read / Write Coils Command
For a Read / Write Coils command, the complete format of the 14 bytes is:
Meaning
Command
Response
Master
Read
01H/81H
Write
41H/C1H
Slave
Read successful
82H/02H
Write successful
81H/01H
Command rejected
80H/00H
Type
Index
Length
Coil Status
(low byte)
Read
00
Write
00
Coil Status
(high byte)
Read
00
Write
00
Type
0
1
2
3
4
5
6
7
8
GFK-2470A
Meaning
Index
Length
Byte4
R1-R8
Byte 5
R9-RF
Byte 4
G1-G8
Byte 5
G9-GF
Byte 4
T1-T8
Byte 5
T9-T1F
Byte 4
C1-C8
Byte 5
C9-C1F
Byte 4
M1-M8
Byte 5
M9-MF
Byte 4
I1-I8
Byte 5
I9-IC
Byte 4
X1-X8
Byte 5
X9-XC
Byte 4
Q1-Q8
Byte 5
00H
Byte 4
Y1-Y8
Byte 5
Y9-YC
10-17
10
Read / Write Function Blocks Command Basic Format
For a Read / Write Function Blocks command, the complete format of the 14 bytes is:
Meaning
Command
Response
1
2
3
4 - 13
Type
Index
Length
Data
Master
Read
Write
Read successful
Write successful
Command rejected
02H/82H
42H/C2H
Read
Write
Slave
82H/02H
81H/01H
80H/00H
See Types below
00H
01H
00
Response
Possible responses to a Read/Write Function Blocks are:
Read Successful. The command is valid and the slave returns the requested data.
Write Successful. The command is valid and the slave supplies the data to the
controller.
Command Rejected. The command is invalid and is rejected by the slave. Invalid
commands may be caused by: 1) Command code error, 2) Toggle bit error, 3) Type
code error, 4) Index error, 5) Length error.
Value (hex)
00H
80H
01H
81H
02H
82H
03H
83H
04H
84H
10-18
Definition
Timer current value
Timer preset value
Counter current value
Counter preset value
RTC current value
RTC preset value
Comparator current value
Comparator preset value
PWM current value
PWM preset value
GFK-2470A
10
Read / Write Function Blocks Command: Read Timer Current Value
If a Read / Write Function Blocks command is used to read the Current Value of one or more
of the controller Timer function(s), the complete format of the 14 bytes is:
Meaning
Command
Response
1
2
3
4 - 13
Master
Read
Write
Read successful
Command rejected
Type
Index
Length
Data
Slave
02H/82H
42H/C2H
00H
See Index below
See Length below
00H
82H/02H
80H/00H
00H
See Index below
See Length below
See below
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Meaning
Timer 1 Current Value High byte
Timer 1 Current Value Low byte
Timer 2 Current Value High byte
Timer 2 Current Value Low byte
Timer 3 Current Value High byte
Timer 3 Current Value Low byte
Timer 4 Current Value High byte
Timer 4 Current Value Low byte
Timer 5 Current Value High byte
Timer 5 Current Value Low byte
Timer 6 Current Value High byte
Timer 6 Current Value Low byte
Timer 7 Current Value High byte
Timer 7 Current Value Low byte
Timer 8 Current Value High byte
Timer 8 Current Value Low byte
Timer 9 Current Value High byte
Timer 9 Current Value Low byte
Timer A Current Value High byte
Timer A Current Value Low byte
Timer B Current Value High byte
Timer B Current Value Low byte
Timer C Current Value High byte
Timer C Current Value Low byte
Timer D Current Value High byte
Timer D Current Value Low byte
Timer E Current Value High byte
Timer E Current Value Low byte
Timer F Current Value High byte
Timer F Current Value Low byte
Length
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
10-19
10
Send Data (hex)
Byte
0
Meaning
Command
Read
Write
Read successful
Write successful
Command rejected
Response
1
2
3
4 - 13
Master
Type
Index
Length
Data
Slave
02H/82H
42H/C2H
80H
See Index below.
See Length below
See below
82H/02H
81H/01H
80H/00H
80H
See Index below.
See Length below
See below
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Meaning
Timer 1 Preset Value High byte
Timer 1 Preset Value Low byte
Timer 2 Preset Value High byte
Timer 2 Preset Value Low byte
Timer 3 Preset Value High byte
Timer 3 Preset Value Low byte
Timer 4 Preset Value High byte
Timer 4 Preset Value Low byte
Timer 5 Preset Value High byte
Timer 5 Preset Value Low byte
Timer 6 Preset Value High byte
Timer 6 Preset Value Low byte
Timer 7 Preset Value High byte
Timer 7 Preset Value Low byte
Timer 8 Preset Value High byte
Timer 8 Preset Value Low byte
Timer 9 Preset Value High byte
Timer 9 Preset Value Low byte
Timer A Preset Value High byte
Timer A Preset Value Low byte
Timer B Preset Value High byte
Timer B Preset Value Low byte
Timer C Preset Value High byte
Timer C Preset Value Low byte
Timer D Preset Value High byte
Timer D Preset Value Low byte
Timer E Preset Value High byte
Timer E Preset Value Low byte
Timer F Preset Value High byte
Timer F Current Value Low byte
Length
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Meaning
Master
DURUS Controllers May 2011
Slave
GFK-2470A
10
0
Command
Response
1
2
3
4 - 13
Read
Read successful
Command rejected
Type
Index
Length
Data
02H/82H
01H
See Index below
See Length below
See below
82H/02H
80H/00H
01H
See Index below
See Length below
See below
Meaning
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
GFK-2470A
Length Index
00H
Counter 1 CV High byte
Counter 1 CV Middle byte
Counter 1 CV Low byte
00H
Counter 2 CV High byte
Counter 2 CV Middle byte
Counter 2 CV Low byte
00H
Counter 3 CV High byte
Counter 3 CV Middle byte
Counter 3 CV Low byte
00H
Counter 4 CV High byte
Counter 4 CV Middle byte
Counter 4 CV Low byte
00H
Counter 5 CV High byte
Counter 5 CV Middle byte
Counter 5 CV Low byte
00H
Counter 6 CV High byte
Counter 6 CV Middle byte
Counter 6 CV Low byte
00H
Counter 7 CV High byte
Counter 7 CV Middle byte
Counter 7 CV Low byte
00H
Counter 8 CV High byte
Counter 8 CV Middle byte
Counter 8 CV Low byte
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Meaning
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
00H
Counter 9 CV High byte
Counter 9 CV Middle byte
Counter 9 CV Low byte
00H
Counter A CV High byte
Counter A CV Middle byte
Counter A CV Low byte
00H
Counter B CV High byte
Counter B CV Middle byte
Counter B CV Low byte
00H
Counter C CV High byte
Counter C CV Middle byte
Counter C CV Low byte
00H
Counter D CV High byte
Counter D CV Middle byte
Counter D CV Low byte
00H
Counter E CV High byte
Counter E CV Middle byte
Counter E CV Low byte
00H
Counter F CV High byte
Counter F CV Middle byte
Counter F CV Low byte
Length
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
10-21
10
Meaning
Command
Response
1
2
3
4 - 13
Master
Read
Write
Read successful
Write successful
Command rejected
Slave
02H/82H
42H/C2H
Type
Index
Length
Data
81H
See Index below.
See Length below
See below
82H/02H
81H/01H
80H/00H
81H
See Index below.
See Length below
See below
---
10-22
Meaning, Modes 1 to 7
Length
Meaning, Mode 8
Length
Byte 4
00H
T_H
Byte 5
T_L
Byte 6
00H
Byte 7
Byte 8
00H
Byte 9
00H
Byte 10 00H
00H
Byte 11 00H
Byte 12 00H
Byte 13 00H
---
---
---
---
Byte 4
00H
T_H
Byte 5
T_L
Byte 6
00H
Byte 7
Byte 8
00H
Byte 9
00H
Byte 10 00H
00H
Byte 11 00H
Byte 12 00H
Byte 13 00H
---
GFK-2470A
10
Read / Write Function Blocks Command: Read / Write Real Time Clock
Current Value
If a Read / Write Function Blocks command is used to read or write the Current Value of one
or more of the controller Real Time Clock(s), the complete format of the 14 bytes is:
Meaning
Command
Read
Write
Read successful
Write successful
Command rejected
Response
1
2
3
4 - 13
Master
Type
Index
Length
Data
Slave
02H/82H
42H/C2H
02H
See Index below
See Length below
00H
82H/02H
81H/01H
80H/00H
02H
See Index below
See Length below
See below
Index
Meaning
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Byte 9
Byte 10
Length
Year
Month
Day
Week
Hour
Minute
Second
1
1
1
1
1
1
Read / Write Function Blocks Command: Read / Write Real Time Clock
Preset Value
If a Read / Write Function Blocks command is used to read or write the Preset Value of one or
more Real Time Clock function(s), the complete format of the 14 bytes is:
Meaning
Command
Response
1
2
3
4 - 13
Type
Index
Length
Data
GFK-2470A
Read
Write
Read successful
Write successful
Command rejected
Master
Slave
02H/82H
42H/C2H
82H
See Index below.
See Length below
See below
82H/02H
81H/01H
80H/00H
82H
See Index below.
See Length below
See below
10-23
10
Real Time Clock Preset Value definitions are:
Index Bytes
---
Meaning, Modes 1, 2
Length
Meaning, Mode 3
Length
Byte 4
R1: On Week
R1: On Year
Byte 5
Byte 6
R1: On Hour
R1: On Month
Byte 7
Byte 8
R1: On Minute
R1: On Day
Byte 9
---
---
---
---
Byte 4
RF: On Week
R1: On Year
Byte 5
Byte 6
RF: On Hour
R1: On Month
Byte 7
Byte 8
RF: On Minute
R1: On Day
Byte 9
---
Meaning
Command
Response
1
2
3
4 - 13
Master
Read
Write
Read successful
Command rejected
Type
Index
Length
Data
Slave
02H/82H
42H/C2H
03H
See Index below
See Length below
00H
82H/02H
80H/00H
03H
See Index below
See Length below
See below
Index
10-24
Meaning
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Byte 9
Byte 10
Byte 10
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Byte 9
Byte 10
Byte 10
Length
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
GFK-2470A
10
Meaning
Command
Response
1
2
3
4 - 13
Master
Read
Write
Read successful
Write successful
Command rejected
Type
Index
Length
Data
Slave
02H/82H
42H/C2H
83H
See Index below.
See Length below
See below
82H/02H
81H/01H
80H/00H
83H
See Index below.
See Length below
See below
GFK-2470A
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Byte 4
Byte 5
Meaning
G1 Preset Value High byte
G1 Preset Value Low byte
G2 Preset Value High byte
G2 Preset Value Low byte
G 3 Preset Value High byte
G 3 Preset Value Low byte
G 4 Preset Value High byte
G 4 Preset Value Low byte
G 5 Preset Value High byte
G 5 Preset Value Low byte
G 6 Preset Value High byte
G 6 Preset Value Low byte
G 7 Preset Value High byte
G 7 Preset Value Low byte
G 8 Preset Value High byte
G 8 Preset Value Low byte
G 9 Preset Value High byte
G 9 Preset Value Low byte
G A Preset Value High byte
G A Preset Value Low byte
G B Preset Value High byte
G B Preset Value Low byte
G C Preset Value High byte
G C Preset Value Low byte
G D Preset Value High byte
G D Preset Value Low byte
G E Preset Value High byte
G E Preset Value Low byte
G F Preset Value High byte
G F Current Value Low byte
Length
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
10-25
10
Read / Write Function Blocks Command: Read PWM Current Value
If a Read / Write Function Blocks command is used to read the current value of one or more
controller PWM function(s), the complete format of the 14 bytes is:
Meaning
Command
Response
1
2
3
4 - 13
Master
Read
Write
Read successful
Command rejected
Type
Index
Length
Data
Slave
02H/82H
42H/C2H
04H
See Index below
See Length below
00H
82H/02H
80H/00H
04H
See Index below
See Length below
See below
Index
Meaning
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Length
1
1
1
1
Read / Write Function Blocks Command: Read / Write PWM Preset Value
If a Read / Write Function Blocks command is used to read or write the Preset Value of one or
more controller PWM function(s), the complete format of the 14 bytes is:
Meaning
Command
Response
1
2
3
4 - 13
10-26
Type
Index
Length
Data
Master
Read
Write
Read successful
Write successful
Command rejected
Slave
02H/82H
42H/C2H
84H
See Index below.
See Length below
See below
82H/02H
81H/01H
80H/00H
84H
See Index below.
See Length below
See below
GFK-2470A
10
PWM Preset Value definitions are:
Index
0
GFK-2470A
Meaning
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Byte 4
Byte 5
Byte 6
Byte 7
Length
PW 1 High
PW 1 Low
PT 1 High
PT 1 Low
PW 2 High
PW 2 Low
PT 2 High
PT 2 Low
PW 3 High
PW 3 Low
PT 3 High
PT 3 Low
PW 4 High
PW 4 Low
PT 4 High
PT 4 Low
PW 5 High
PW 5 Low
PT 5 High
PT 5 Low
PW 6 High
PW 6 Low
PT 6 High
PT 6 Low
PW 7 High
PW 7 Low
PT 7 High
PT 7 Low
PW 8 High
PW 81 Low
PT 8 High
PT 8 Low
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
10-27
11
This chapter describes the DeviceNet features that can be incorporated into a Durus
controller system by including a DeviceNet Slave Communications Expansion Module,
24VDC (IC210EDS001).
Overview
Device Profile
DeviceNet Information
GFK-2470A
11-1
11
Overview
The DeviceNet Slave Communications Expansion Module (IC210EDS001) operates as a
DeviceNet Group II Only Slave device, interfacing the Durus controller to a DeviceNet
communications bus. If a DeviceNet Communications Expansion Module is installed in the
controller, it must be the only communications module present.
Network Parameters
Baud rate and MAC ID set by an 8-bit DIP switch. Not set from network.
11-2
GFK-2470A
11
Operation
The DeviceNet Master can access the following Durus controller data:
Read and write Preset Value of Timer, Counter, RTC, Analog, PWM
Configuration
Module Description
Power Supply
Terminal
Retractable
Mounting Feet
Retractable
Mounting Feet
GFK-2470A
11-3
11
SW 1
SW 2
SW 3
SW 4
SW 5
SW 6
OFF
OFF
OFF
OFF
OFF
OFF
ON
OFF
OFF
OFF
OFF
OFF
OFF
ON
OFF
OFF
OFF
OFF
ON
ON
OFF
OFF
OFF
OFF
OFF
OFF
ON
OFF
OFF
OFF
---
---
---
---
---
---
---
63
ON
ON
ON
ON
ON
ON
SW 7
SW 8
125k
OFF
OFF
250k
ON
OFF
500k
OFF
ON
11-4
GFK-2470A
11
On green
Flashing green
Flashing red
and green
Flashing red
On red
Off
Module
Status
(MS)
GFK-2470A
On green
Flashing green
Flashing red
and green
Self Testing
Flashing red
On red
Off
11-5
11
Device Profile
Device Name: Durus DeviceNet Slave Communications Expansion Module
Device Type Code: 0C Hex (Communications Adapter)
Object Classes
The DeviceNet Slave Communications Expansion Module supports the following
DeviceNet object classes.
Object
Class
Required
or
Optional
Object Behavior
Object
Interface
Instances
Identity
Required
Support reset
operation, nonsupport
heartbeat message
Router
Router
Required
No effect
Identity,
DeviceNet,
Connection,
Assembly,
Application
DeviceNet
Required
Router
Connection
Required
Router,
Assembly
2: I/O
connection
and Explicit
connection
Assembly
Optional
Router,
Connection,
Application
1 or more
Control
Optional
Router,
Assemble
Interface
Optional
Define communication
module parameters
Router
Application
Optional
Communication with
Durus controller
Router,
Assemble
1 or more
11-6
GFK-2470A
11
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Q8
Q7
Q6
Q5
Q4
Q3
Q2
Q1
I8
I7
I6
I5
I4
I3
I2
I1
Z4
Z3
Z2
Z1
IC
IB
IA
I9
M8
M7
M6
M5
M4
M3
M2
M1
Reserved MF
ME
MD
MC
MB
MA
M9
Reserved
Reserved
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Q8
Q7
Q6
Q5
Q4
Q3
Q2
Q1
I8
I7
I6
I5
I4
I3
I2
I1
Z4
Z3
Z2
Z1
IC
IB
IA
I9
Y8
Y7
Y6
Y5
Y4
Y3
Y2
Y1
Reserved
YC
YB
YA
Y9
X8
X4
X3
X2
X1
Reserved
XC
XB
XA
X9
Reserved
GFK-2470A
X7
X6
X5
11-7
11
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Q8
Q7
Q6
Q5
Q4
Q3
Q2
Q1
I8
I7
I6
I5
I4
I3
I2
I1
Z4
Z3
Z2
Z1
IC
IB
IA
I9
Y8
Y7
Y6
Y5
Y4
Y3
Y2
Y1
Reserved
YC
YB
YA
Y9
X8
X4
X3
X2
X1
Reserved
XC
XB
XA
X9
Reserved
X7
X6
X5
Running
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Q8
Q7
Q6
Q5
Q4
Q3
Q2
Q1
M8
M7
M6
M5
M4
M3
M2
M1
Reserved MF
ME
MD
MC
MB
MA
M9
Reserved
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Q8
Q7
Q6
Q5
Q4
Q3
Q2
Q1
Y8
Y7
Y6
Y5
Y4
Y3
Y2
Y1
Reserved
YC
YB
YA
Y9
Reserved
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Q8
Q7
Q6
Q5
Q4
Q3
Q2
Q1
Y8
Y7
Y6
Y5
Y4
Y3
Y2
Y1
Reserved
YC
YB
YA
Y9
Reserved
Run
Parameter Configuration
Refer to EDS file.
11-8
GFK-2470A
11
DeviceNet Information
Message Types
As a Group II slave device, the communication module supports the following message
types:
10xxxxxx111
10xxxxxx110
Predefine master/slave
connection message
10xxxxxx101
10xxxxxx100
Remark
xxxxxx is device MAC ID
DeviceNet Services
As a Group II only slave device, the DeviceNet Expansion Communication module
supports the following class services and instance services:
Service name
Service code
Reset
0x05
0x0E
0x10
0x4B
0x4C
DeviceNet Objects
Class code
Instance number
01hex
Identity
02hex
Router
03hex
DeviceNet
04hex
Assembly
05hex
Connection
29hex
Control
64hex
Interface
65hex
Durus expansion
GFK-2470A
11-9
11
Class Attributes
ID
Access
Rule
Get
Description
Revision of this class
Default
Value
Data Type
UINT
Byte
Number
2
Instance Attributes
ID
Access
Rule
Get
Vendor ID
UINT
326
Get
Device Type
UINT
0x0C
Get
Product Code
UINT
0x02 (slave)
Get
Revision
STRUCT
Major
USINT
0x01
Minor
USINT
0x01
Description
Default
Value
Data Type
Byte
Number
Get
Status
WORD
0x00
Get
Serial Number
UDINT
0x12345678
Get
Product Name
Short
String
15
16
USINT
0x00
Get
Durus-DNET
Module
0 = no device
1 = device self-testing
2 = Standby
3 = Operational
4 = Recoverable fault
5 = Fatal fault
11-10
Get
Device Configuration
UINT
0x00
Get/Set
Heartbeat interval in
seconds, nominal
USINT
0x00
GFK-2470A
11
Class Service
Service
code
Service name
Description of service
0x0E
Instance Service
Service
code
Service name
Description of service
0x0E
0x10
Modifies an attribute
0x05
Reset
GFK-2470A
11-11
11
Router Object
Class code: 02Hex
The Message Router Object provides a messaging connection point through which a
Client may address a service to any object class or instance residing in the physical
device.
Class Attributes
ID
Access
Rule
Get
Description
Default
Value
Data Type
UINT
Byte
Number
2
Service name
Description of service
0x0E
11-12
GFK-2470A
11
DeviceNet Object
Class code: 03Hex
The DeviceNet Object provides the configuration and status of a DeviceNet port. There
can only be one DeviceNet object per physical connection to the DeviceNet
communication link.
Class Attributes
Access
Rule
ID
1
Get
Description
Revision of this class
Data
Type
UINT
Default
Value
2
Byte
Number
2
Instance Attributes
ID
Access
Rule
Description
Data
Type
Default
Value
Byte
Number
Get
USINT
63
Get
USINT
Get/Set
BOOL
Get/Set
USINT
Get
Allocation Master/Slave
Connection Set
STRUCT
BYTE
0x00
Master MAC ID
USINT
0xFF
Get
USINT
Get
USINT
Class Service
Service
code
Service name
Description of service
0x0E
GFK-2470A
11-13
11
Instance Service
Service
code
Service name
Description of service
0x0E
0x10
Modifies an attribute
Instance Service
Service
code
11-14
Service name
Description of service
0x4B
Allocate
Master/Slave
connection set
0x4C
Release
Master/Slave
connection set
GFK-2470A
11
Connection Object
Class code: 05Hex
The Connection Class allocates and manages the internal resources associated with both
I/O and Explicit Messaging Connections.
Class Attributes
ID
Access
Rule
Get
Description
Data
Type
UINT
Default
Value
2
Byte
Number
2
Access
Rule
Description
Data
Type
Default Value
Byte
Number
Get
USINT
00
Get
Instance Type:
0 = Explicit connection
1 = I/O connection
USINT
00
Get
BYTE
0x83
Get
UINT
10******011
(****** is the
MAC ID).
Get
UINT
10******100
(****** is the
MAC ID).
Get
BYTE
0x21
Get
UINT
40
Get
UINT
40
Get/Set
UINT
2500 (ms)
Get/Set
USINT
Get
USINT
Get
SEG
No
Get
USINT
10
Get
SEG
No
11
Get
UINT
GFK-2470A
11-15
11
11-16
ID
Access
Rule
Get
USINT 00
Get
Instance Type:
0 = Explicit connection
1 = I/O connection
USINT 00
Get
BYTE
0x83
Get
UINT
01111******
(****** is the
MAC ID).
Get
UINT
10******101
(****** is the
MAC ID).
Get
BYTE
0x01
Get
UINT
Get
UINT
Get/Set
UINT
0 (ms)
Get/Set
USINT 0
Get
USINT 6
Get
SEG
Get
USINT 6
10
Get
SEG
11
Get
UINT
Description
Data
Type
Default
Value
Byte
Number
GFK-2470A
11
Common Service
Service
code
Optional Operation
Service Name
Class
Instance
0x05
Yes
(reset all
connections
to non-exist
state)
Yes
Used to track the
inactivity/watchdog timer
associated with a Connection
Object. When a Connection in
the Timed Out state or Deferred
Delete State receives a Reset
request, it also transitions back
to the Established state.
Reset
0x0E
Yes
Yes
0x10
No
Yes
GFK-2470A
11-17
11
Assembly Object
Class code: 04hex
Assembled controlling I/O states in the controller.
Class Attributes
Attributes
ID
Access
Rule
Get
Data
type
Name
Revision UINT
Description of
Attributes
and Semantics
Revision of
this class
Default
value
Byte number
Access
Rule
Get
Name
Data
Data type
Description of Attributes
Access
Rule
Name
Get/Set
Data
Data type
Description of Attributes
Class Service
Service
code
Service name
Description of service
0x0E
Instance Services
Service
code
11-18
Service name
Description of service
0x0E
0x10
Modifies an attribute
GFK-2470A
11
Instance Attributes
ID
Access
Rule
Default
Value
Byte
Number
Get/Set
Run State
0 = Stop, 1 = Run
BOOL
Get
Running State
0 = Stopping, 1 = Running
BOOL
Get
Ready State
0 = Not Ready, 1 = Ready
BOOL
Get
Fault State
0 = Not faulted, 1 = Faulted
BOOL
Get
BOOL
Get
UINT
Description
Data
Type
Instance Services
Service
code
Service name
Description of service
0x0E
0x10
Modifies an attribute
GFK-2470A
11-19
11
Interface Object
Class code: 64Hex
The class describes the parameters of the DeviceNet Communication Module.
Instance Attributes
ID
Access
Rule
Get/Set
USINT
Get/Set
USINT
36
Get
Baud Rate
USINT
Get
Node MAC ID
USINT
63
Get
Software version
USINT
1.1
Description
Data
Type
Default
Value
Byte
Number
Instance Services
Service
code
11-20
Service name
Description of service
0x0E
0x10
Modifies an attribute
GFK-2470A
11
Instance Attributes
ID
1
2
Access
Rule
Get
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get
Get
Get / Set
0A
Get / Set
0B
Get / Set
0C
Get / Set
0D
Get
Description
Controller ID Number
R Coils (RTC Blocks) current states:
Byte 2, Bits
Byte 1, Bits
Data
Type
USINT
UINT
Default Bytes
Value
1
1
0
2
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
-- F E D C B A 9 8 7 6 5 4 3 2 1
0E
0F
GFK-2470A
UINT
UINT
11-21
11
ID
10
Access
Rule
Get
11
12
13
14
15
16
17
18
19
1A
1B
1C
1D
1E
1F
20
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
21
22
23
24
25
26
27
28
29
2A
2B
2C
2D
2E
2F
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
Get
11-22
Get
Description
Timer 1 Current Value
Byte 1 = Timer Current Value low byte
Byte 2 = Timer Current Value high byte
Timer 2 Current Value. See Timer 1 format
Timer 3 Current Value. See Timer 1 format
Timer 4 Current Value. See Timer 1 format
Timer 5 Current Value. See Timer 1 format
Timer 6 Current Value. See Timer 1 format
Timer 7 Current Value. See Timer 1 format
Timer 8 Current Value. See Timer 1 format
Timer 9 Current Value. See Timer 1 format
Timer A Current Value. See Timer 1 format
Timer B Current Value. See Timer 1 format
Timer C Current Value. See Timer 1 format
Timer D Current Value. See Timer 1 format
Timer E Current Value. See Timer 1 format
Timer F Current Value. See Timer 1 format
Reserved
Counter 1 Current Value
Byte 1 = Counter Value low byte
Byte 2 = Counter Value middle byte
Byte 3 = Counter Value high byte
Byte 4 = 00
Counter 2 Current Value. See Counter 1.
Counter 3 Current Value. See Counter 1.
Counter 4 Current Value. See Counter 1.
Counter 5Current Value. See Counter 1.
Counter 6 Current Value. See Counter 1.
Counter 7 Current Value. See Counter 1.
Counter 8 Current Value. See Counter 1.
Counter 9 Current Value. See Counter 1.
Counter A Current Value. See Counter 1.
Counter B Current Value. See Counter 1.
Counter C Current Value. See Counter 1.
Counter D Current Value. See Counter 1.
Counter E Current Value. See Counter 1.
Counter F Current Value. See Counter 1.
Reserved
Data
Type
UINT
Default
Value
Bytes
2
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
2
2
2
2
2
2
2
2
2
2
2
2
2
2
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
4
4
4
4
4
4
4
4
4
4
4
4
4
4
GFK-2470A
11
ID
30
31
32
33
34
35
36
37
38
39
3A
3B
3C
3D
3E
3F
40
41
42
43
44
45
46
47
48
49
4A
4B
4C
4D
4E
4F
Access
Rule
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
GFK-2470A
Description
Timer 1 Preset Value.
Byte 1 = Preset Value low byte
Byte 2 = Preset Value high byte.
Timer 2 Preset Value. See Timer 1.
Timer 3 Preset Value. See Timer 1.
Timer 4 Preset Value. See Timer 1.
Timer 5 Preset Value. See Timer 1.
Timer 6 Preset Value. See Timer 1.
Timer 7 Preset Value. See Timer 1.
Timer 8 Preset Value. See Timer 1.
Timer 9 Preset Value. See Timer 1.
Timer A Preset Value. See Timer 1.
Timer B Preset Value. See Timer 1.
Timer C Preset Value. See Timer 1.
Timer D Preset Value. See Timer 1.
Timer E Preset Value. See Timer 1.
Timer F Preset Value. See Timer 1.
Reserved
Counter 1 Preset Value
In Mode 1 to Mode 7:
Byte 1 = Counter Preset Value low byte
Byte 2 = Counter Preset Value middle
Byte 3 = Counter Preset Value high byte
Byte 4 = 00
In Mode 8:
Byte 1 = Period Time low byte
Byte 2 = Period Time high byte
Byte 3 = Counter ON Value low byte
Byte 4 = Counter ON Value middle byte
Byte 5 = Counter ON Value high byte
Byte 6 = Counter OFF Value low byte
Byte 7 = Counter OFF Value middle byte
Byte 7 = Counter OFF Value high byte
Counter 2 Preset Value. See Counter 1.
Counter 3 Preset Value. See Counter 1.
Counter 4 Preset Value. See Counter 1.
Counter 5Preset Value. See Counter 1.
Counter 6 Preset Value. See Counter 1.
Counter 7 Preset Value. See Counter 1.
Counter 8 Preset Value. See Counter 1.
Counter 9 Preset Value. See Counter 1.
Counter A Preset Value. See Counter 1.
Counter B Preset Value. See Counter 1.
Counter C Preset Value. See Counter 1.
Counter D Preset Value. See Counter 1.
Counter E Preset Value. See Counter 1.
Counter F Preset Value. See Counter 1.
Reserved
Data
Type
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
Default
Value
Bytes
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
UINT
4
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
4/8
4/8
4/8
4/8
4/8
4/8
4/8
4/8
4/8
4/8
4/8
4/8
4/8
4/8
11-23
11
ID
50
11-24
Access
Rule
Get / Set
51
52
53
54
55
56
57
58
59
5A
5B
5C
5D
5E
5F
60
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
61
62
63
64
65
66
67
68
69
6A
6B
6C
6D
6E
6F
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Description
RTC 1 Preset Value
Mode 1 and Mode 2:
Byte 1 = On week, Byte 2 = Off week
Byte 3 = On hour, Byte 4 = On minute
Byte 5 = Off hour, Byte 6 = Off minute
Mode 3:
Byte 1 = On year, Byte 2 = Off year
Byte 3 = On month, Byte 4 = On day
Byte 5 = Off month, Byte 6 = Off day
RTC 2 Preset Value. See RTC Preset 1.
RTC 3 Preset Value. See RTC Preset 1.
RTC 4 Preset Value. See RTC Preset 1.
RTC 5 Preset Value. See RTC Preset 1.
RTC 6 Preset Value. See RTC Preset 1.
RTC 7 Preset Value. See RTC Preset 1.
RTC 8 Preset Value. See RTC Preset 1.
RTC 9 Preset Value. See RTC Preset 1.
RTC A Preset Value. See RTC Preset 1.
RTC B Preset Value
RTC C Preset Value
RTC D Preset Value
RTC E Preset Value
RTC F Preset Value
Reserved
Analog 1 Preset Value:
Byte 1 = low byte, Byte 2 = high byte
Analog 2 Preset Value. See Analog 1.
Analog 3 Preset Value. See Analog 1.
Analog 4 Preset Value. See Analog 1.
Analog 5 Preset Value. See Analog 1.
Analog 6 Preset Value. See Analog 1.
Analog 7 Preset Value. See Analog 1.
Analog 8 Preset Value. See Analog 1.
Analog 9 Preset Value. See Analog 1.
Analog A Preset Value. See Analog 1.
Analog B Preset Value. See Analog 1.
Analog C Preset Value. See Analog 1.
Analog D Preset Value. See Analog 1.
Analog E Preset Value. See Analog 1.
Analog F Preset Value. See Analog 1.
Reserved
Data
Type
UINT
Default
Value
Bytes
6
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
6
6
6
6
6
6
6
6
6
6
6
6
6
6
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
2
2
2
2
2
2
2
2
2
2
2
2
2
2
GFK-2470A
11
ID
70
Access
Rule
Get / Set
71
72
73
74
75
76
77
78
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get / Set
Get
79
7A
7B
7C
7D
7E
7F
Get
Get
Get
Get
Get
Get
Get
Description
PWM 1 Preset Value
Byte 1 = Preset PW Value low byte
Byte 2 = Preset PW Value high byte
Byte 3 = Preset PT Value low byte
Byte 4 = Preset PT Value high byte
PWM 2 Preset Value. See PWM 1.
PWM 3 Preset Value. See PWM 1.
PWM 4 Preset Value. See PWM 1.
PWM 5 Preset Value. See PWM 1.
PWM 6 Preset Value. See PWM 1.
PWM 7 Preset Value. See PWM 1.
PWM 8 Preset Value. See PWM 1.
Analog input 1 Current Value:
Byte 1 = low byte, Byte 2 = high byte
Analog input 2 Current Value. See A1
Analog input 3 Current Value. See A1
Analog input 4 Current Value. See A1
Analog input 5 Current Value. See A1
Analog input 6 Current Value. See A1
Analog input 7 Current Value. See A1
Analog input 8 Current Value. See A1
Data
Type
UINT
Default
Value
Bytes
4
UINT
UINT
UINT
UINT
UINT
UINT
UINT
UINT
4
4
4
4
4
4
4
2
UINT
UINT
UINT
UINT
UINT
UINT
UINT
2
2
2
2
2
2
2
Instance Service
Service
code
Service name
Description of service
0x0E
0x10
Modifies an attribute
GFK-2470A
11-25
A
This appendix provides sample applications for DURUS controllers.
Ventilation Control
GFK-2470A
A-1
Lamp H1
I1 (no terminal)
Switch B1
I2 (no terminal)
Switch
A-2
Switch
Infrared
Sensor
GFK-2470A
GFK-2470A
A-3
MC2
S1
S2
B1
B2
A-4
GFK-2470A
GFK-2470A
A-5
Main contact
MC2
Main contact
S0
S1
S2
S3
H1
Operation indicator
H2
Alarm light
A-6
GFK-2470A
GFK-2470A
A-7
MC2
S0
S1
S2
S3
S4
A-8
GFK-2470A
GFK-2470A
A-9
Count sensor
S1
M1
Packing
A-10
GFK-2470A
GFK-2470A
A-11
Index
A
Agency Approvals, 1-1
Analog Comparator Format on the
Controller, 5-1
Analog Compares, 1-1
Analog Display Set, 8-1
Analog Gain and Offset, 5-1, 7-1
Analog Inputs, 1-1
AND (EDGE) Logic Diagram, 4-1
AND Logic Diagram, 4-1
Approvals, 1-1
AQ (analog outputs), 4-1
AR (Analog-Ramp), 4-1
AS (add-subtract), 4-1
Assembly Object, 11-1
B
Backlight
control, 5-1
life, 1-1
C
C memory, 4-1
Cascaded Flash Timer without Reset, 4-1
Clear the Current Program, 5-1
Clear the Current Program, 7-1
CMS (Checksum and time-out definition),
9-1
Coil Addresses, 9-1
Coil Status Addresses, 9-1
Coil Status Registers, 9-1
Coils Address, 9-1
Coils and Contacts, 7-1
Comments, 8-1
Communications Features, 1-1
Communications Option Modules, 1-1
Compare Functions, 4-1
Comparison of Module Features, 1-1
Configuration
analog gain and offset, 5-1, 6-1, 7-1
backlight display, 5-1
language, 5-1, 6-1, 7-1, 8-1
Link Com Port, 6-1, 8-1
M Keep, 4-1
Module System Setting, 5-1, 6-1, 8-1
password, 5-1, 6-1, 7-1, 8-1
real time clock, 5-1, 6-1, 7-1, 8-1
GFK-2470A
D
Data Link, 1-1
Data Link Format on the Controller, 5-1
Data Link Function, 8-1
DATALINK Function, 4-1
Description, 1-1
DeviceNet, 1-1
DeviceNet Features, 11-1
DeviceNet Object, 11-1
DeviceNet Object Class Definitions, 11-1
DeviceNet Objects, 11-1
DeviceNet Services, 11-1
DeviceNet Slave Communications
Expansion Module (IC210EDS001),
11-1
Dimensions, 1-1
DIN Rail Installation, 2-1
Discrete Inputs, 1-1
Display Language, 5-1, 7-1
DR (Data-Register), 4-1
Durus Controller Extended Object, 11-1
DURUS Controllers
part numbers, 1-1
E
Edit Function Blocks, 5-1
Edit Ladder Logic, 5-1
Editing on the Controller, 7-1
Electrical Isolation, 10-1
Exception Codes, 9-1
Expansion Inputs and Outputs, 5-1, 7-1
Index-1
Index
Expansion Module Installation, 2-1
Expansion Modules, 1-1
F
Features, 1-1
Field Wiring, 2-1
Flash with Reset Input, 4-1
Flash without Reset Input, 4-1
Frequency Comparison, 4-1
Function Block Editing on the Controller, 51
Function Block Mode, 7-1
Function Blocks, 7-1
M
M memory, 4-1
MD (multiply-divide), 4-1
Memory Option Module Installation, 3-1
Memory usage
Function Block mode, 4-1
MODBUS
H
High-Speed Counter, 4-1
HMI instructions, 4-1, 6-1
HMI/Text, 4-1, 6-1
Commands, 9-1
examples, 9-1
Function Codes, 9-1
message formats, 9-1
register addresses, 9-1
slave, communications expansion module,
9-1
slave, with built-in RS-485 port, 9-1
I
I/O Assembly Data Definitions, 11-1
I/O Expansion Option Modules, 1-1
I/O Link Wiring, 2-1
I/O Specifications, 1-1
Identity Object, 11-1
Input contacts, 4-1
Installation Environment, 2-1
Installation, Expansion Module, 10-1
Interface Object, 11-1
K
Keypad Functions in Function Block Mode,
7-1
Keypad Functions in Ladder Mode, 5-1
Keypad Mode, 6-1
Keypad overview
function block operation, 7-1
ladder operation, 5-1
L
Ladder Logic Editing on the Controller, 5-1
Ladder Logic Editing with the
Programming Software, 6-1
Index-2
N
N memory, 4-1
NAND (EDGE) Logic Diagram, 4-1
NAND Logic Diagram, 4-1
Negative Input Differential logic diagram,
4-1
NOR logic diagram, 4-1
Normal Output, 4-1
NOT logic diagram, 4-1
O
Off Delay with Reset, 4-1
On Delay with Reset Input, 4-1
On-Delay Mode Timer, 4-1
OR logic diagram, 4-1
Over-current Protection, 2-1
GFK-2470A
Index
P
Panel Mounting, 2-1
Password, 5-1, 7-1
Phone number, 4-1
PID (Proportional-Integral-Differential), 4-1
Point States, 5-1, 7-1
Positive Input Differential logic diagram, 41
Power Supply, 1-1
Preset, 5-1, 7-1
Preset Single Register, Command, 9-1
Preset Value Registers, 9-1
Preset Values Registers, 9-1
Profibus Cable Types, 10-1
Profibus Functions, 10-1
Profibus-DP, 1-1
Profibus-DP Bus Connection, 10-1
Profibus-DP Slave Communications
Expansion Module, 24VDC
(IC210EPS001), 10-1
Program Editing, 8-1
Program Elements, 8-1
Program Transfer, 1-1
Programming, 1-1
Programming Computer, Connecting, 3-1
Programming elements, 4-1
Programming Software and Cables, 1-1
Protection Devices, 2-1
Pulse Output (Flip/Flop), 4-1
PWM Format on the Controller, 5-1
PWM Output Instruction, 4-1
PLSY mode, 4-1
PWM mode, 4-1
Broadcast, 9-1
S
SET Output (Latch), 4-1
Set the Real-time Clock, 5-1
Simulation Mode, 8-1
SLAVE Addresses, 9-1
Specifications, 1-1
SR Logic Diagram; Set/Reset Coil, 4-1
Startup Screen, 5-1, 7-1
System errors, 5-1, 7-1
T
T memory, 4-1
Technical Support. See page iii
Text Editing, 8-1
Timer Format on the Controller, 5-1
Timers, 1-1, 4-1
Transistor Outputs, 1-1
R
Read / Write Coils Command, 10-1
Read / Write Function Blocks Command,
10-1
Read a Program, 5-1, 7-1
Read Coils, Command, 9-1
Read Registers, Command, 9-1
Reading and Writing Durus Controller
Data, 10-1
Real Time Clock Format on the Controller,
5-1
Real Time Clock Instructions, 4-1
Real Time Clock: 30 Second Modify Mode,
4-1
Real Time Clocks, 1-1
Real-time Clock, 7-1
Register Addresses, 9-1
Relay Outputs, 1-1
GFK-2470A
Index
Wiring, 1-1
Write a Program, 5-1, 7-1
Write Registers, Command, 9-1
Write Single Coil, Command, 9-1
X
XOR logic diagram, 4-1
Z
Z memory, 4-1
Index-3