Easypac Epc 1000 使用手冊 Tc 8100epc10140

TPM EasyPAC User Manual
EasyPAC
EPC-1000
Version: V4.0 2011N24
Part NO81-00EPC10-140
1

2011/5/5 2.0
2011/6/1 2.1 MyConfig
1. PAC info
2. Update
3.
MyLink:
1. Ring status
2. #4.2.5
3. #4.2.6 File save
4. #edit path file segments
5. # group
6. # group
2011/6/30 3.0 1. 2.2.2 GPIO
2. function block
3. 5.1.4
4. 4.1.2 PAC info
2011/8/2 3.1 1.
3.2 2. MyConfig MyLink
3.3 3. MULTIPROG FB
4. function block
5. GPIO NPN
6. Funciton Block ErrorID
2011/8/19 3.4 1. MULTIPROG
3.5 2. MyDataCheck
3. MyDataCheck
2011/11/24 4.0 1. MyConfig EasyPAC
2. 5
3. MyDataCheck Generate
4. EasyPAC
2
TPM TPM
TPM
TPM
TPM http://www.tpm-pac.com TPM
MS-DOS Windows 95/98/NT/2000/XP, Visual Studio, Visual C++, Visual BASIC

Microsoft
BCB (Borland C++ Builder) Borland International, Inc
MULTIPROG KW software

3
4

........................................................................................................................................................................................... 5
1. ...................................................................................................................................................................................... 8
1.1. ................................................................................................................................................................................ 8
1.1.1. EasyPAC................................................................................................................. 8
1.1.2. + Motionnet = .................................................................................................... 9
1.2. ...................................................................................................................................................................................... 10
1.3. ...................................................................................................................................................................................... 10
1.4. ...................................................................................................................................................................................... 11
1.5. MOTIONNET .................................................................................................................................................................... 11
1.6. .............................................................................................................................................................................. 13
1.7. 24V DC .................................................................................................................................................................. 13
1.8. .............................................................................................................................................................................. 16
2. .................................................................................................................................................................................... 17
2.1. .............................................................................................................................................................................. 17
2.2. ...................................................................................................................................................................................... 17
2.2.1. COM Port: COM & CN1 ..................................................................................................................................... 18
2.2.2. GPIO: CN2 .......................................................................................................................................................... 19
2.2.3. Ring_0: CN3 ........................................................................................................................................................ 21
2.2.4. Ring_1: CN4 ........................................................................................................................................................ 21
2.2.5. 24V DC Input ....................................................................................................................................................... 22
2.2.6. USB Connector .................................................................................................................................................... 22
2.2.7. LAN Connector.................................................................................................................................................... 22
2.3. ROTARY SWITCH ................................................................................................................................................ 23
2.3.1. System Mode: SW1 ..................................................................................................................................... 23
2.3.2. Motionnet Baud-Rate: SW2 ................................................................................................................................. 24
3. .................................................................................................................................................................. 25
3.1. .............................................................................................................................................................................. 25
3.2. .............................................................................................................................................................................. 25
4. MOTIONNET.................................................................................................................................................................. 26
4.1. MOTIONNET .................................................................................................................................................................... 26

4.2. MOTIONNET .................................................................................................................................................................... 26
4.3. MOTIONNET PRODUCT FAMILY...................................................................................................................................................... 28
5. ............................................................................................................................................................................. 29
5.1. MYCONFIG ............................................................................................................................................................................... 29

5
5.1.1. EasyPAC ................................................................................................................................................ 29

5.1.2. PC ........................................................................................................................................................... 30
5.2. MYLINK.................................................................................................................................................................................... 35
5.2.1. Interface ............................................................................................................................................................... 36
5.2.2. ........................................................................................................................................................ 37
5.2.3. DIO Module Operation ........................................................................................................................................ 39
5.2.4. AIO ..................................................................................................................................................... 40
5.2.5. PIO Counter ....................................................................................................................................... 45
5.2.6. Single Axis Module.............................................................................................................................................. 48
5.2.7. Grouped Axes ...................................................................................................................................................... 48
5.3. MYDATACHECK .......................................................................................................................................................................... 60
5.3.1. Data Address Mapping ......................................................................................................................................... 64
5.3.2. .................................................................................................................................................... 66
5.3.3. ..................................................................................................................... 70
5.3.4. Mapping Tables .................................................................................................................................................... 71
6. MULTIPROG INTRODUCTIONS............................................................................................................................................... 93
6.1. MPEXPRESS5.35 INSTALLATION .................................................................................................................................................... 94

6.1.1. Install EasyPAC Software and Tools.................................................................................................................... 97
6.1.2. Install MULTIPROG 5.35.252 Express ............................................................................................................... 97
6.1.3. Install MULTIPROG Patch Files ....................................................................................................................... 100
6.1.4. Uninstall ............................................................................................................................................................. 101
6.2. ........................................................................................................................................................ 102
6.2.1. ........................................................................................................................................... 102
6.2.2. DI ............................................................................................................................................................. 103
6.2.3. Compile .............................................................................................................................................................. 104
6.2.4. Download ........................................................................................................................................................... 105
6.2.5. Debug ................................................................................................................................................................. 105
6.3. .................................................................................................................................................................... 106
6.4. ............................................................................................................................................................ 107
6.4.1. LD ............................................................................................................................................. 108
6.4.2. LD ................................................................................................................................. 113
6.4.3. I/O ......................................................................................................................................... 121
6.4.4. I/O .................................................................................................................................... 124
6.5. ................................................................................................................................................................ 126
6.6. FUNCTIONAL BLOCK, FB ................................................................................................................................... 132
6.6.1. ...................................................................................................................................................... 132
6.6.2. Error Handling ................................................................................................................................................... 134
6.6.3. .................................................................................................................................................. 134
6.6.4. ............................................................................................................................... 136
6
6.6.5. ........................................................................................................................................... 143

6.6.6. EasyPAC Function Block List ........................................................................................................................... 190
6.6.7. Axis Parameter List ............................................................................................................................................ 194
6.6.8. Function Block ErrorID List .............................................................................................................................. 195
6.7. .................................................................................................................................................................... 196
6.7.1. AI/O ................................................................................................................................................................... 196
6.7.2. Counter .............................................................................................................................................................. 202
6.7.3. Single Axis ......................................................................................................................................................... 207
6.7.4. Grouped Axes .................................................................................................................................................... 212
6.7.5. HMI_DIO........................................................................................................................................................... 218
7
1.
EasyPAC EPC-1000 Programmable Automation Controller,
PAC PAC Motionnet EasyPAC
LAN USB Motionnet GPIO8 digital inputs / 8 digital outputs
COM Port 2 RS-232 2 RS-422 PC104
type II CF
EasyPAC ProConOS PC
MyConfig MyLink Motionnet
1.1.
EasyPAC Microsoft WinCE5.0 KW SoftPLC

ProConOS SoftPLC MULTIPROG EasyPAC
Modbus TCP / RTU HMI Modbus TCP / RTU LAN /
COM Port EasyPAC
1.1.1. EasyPAC
EasyPAC offers complete software and tools:

ProConOS
MULTIPROG + PLCopen
MyConfig
MyLink Motionnet
LAN COM Port HMI
8
Figure 1-1: EasyPAC offers complete software and tools
1.1.2. + Motionnet =
EasyPAC Motionnet Ring_0 Ring_1

Ring_0:
64
2.5 / 5 / 10 / 20 Mbps
Ring_1:
32
2.5 / 5 / 10 / 20 Mbps
Figure 1-2: EasyPAC and supported slave modules

9
1.2.

PC LAN / USB 2.0 / RS-232 / RS-422 / Compact Flash Disk
Microsoft Windows CE5.0
DI x8DO x8
Motionnet Ring_0 Ring_1
Ring_0: DI/OAI/O Pulse counter 64
Ring_1: 32
Motionnet 20 Mbps
Modbus TCP / RTU LAN / COM Port HMI - Human Machine
Interface
MyConfig
Motionnet MyLink
MULTIPROG 5.35 Express

24V DC
7W
1.3.
EasyPAC
TPM EasyPAC Specifications
1. Vortex86DX 800 MHz
2. DDR2 RAM 256 MBytes
3. BIOS Flash 2 MBytes
RS-422 x 1, RS-232 x 1 (COM)
4. D-SUB 15 Male Connector x 2
RS-422 x 1, RS-232 x 1 (CN 1)
5. USB Connector x 2 USB 2.0
6. RJ-45 Connector x 2 Motionnet x 2 (CN3, CN4)
7. RJ-45 Connector x 1 Ethernet (LAN)
8. Hardware Security Hardware IC + AES encryption
9. FRAM 32 KBytes
10. DI/O (Isolation 2.5KVDC) 8 Channel Input / Output
11. CF Card Socket x 1
12. 16 step Rotary Switch x 2
13. 7-segment display x 1
10
TPM EasyPAC Specifications

14. LED display x 4
15. Reset Button (PB1) x 1
Table 1-1: EasyPAC
1.4.
EasyPAC MyConfig MyLink PC

Ring_0 Motionnet DIO / AIO
EasyPAC Motion Function Block, Motion FB Ring_1
Motionnet Slave Module
MyConfig IP Address
MyLink Motionnet
Motion FB MULTIPROG
1.5. Motionnet
EasyPAC Motionnet Ring_0 Ring_1Ring_0 Ring_1
port of Motionnet
Item Specifications Remark
Ring_0 Ring_1
106-D240-NX 32-ch digital input with NPN Yes No
106-D222-NN 16-ch digital input and 16-ch digital output with NPN Yes No
106-D204-XN 32-ch digital output with NPN Yes No
EZM-D140-NX 32-ch digital input with NPN Yes No
EZM-D122-NN 16-ch digital input and 16-ch digital output with NPN Yes No
EZM-D104-XN 32-ch digital output with NPN Yes No
106-A104-01 4-ch analog output (10V) Yes No
11
port of Motionnet
Item Specifications Remark
Ring_0 Ring_1
106-A180-01 8-ch analog input (10V, 5V, 2.5V, 1.25V) Yes No
108-A122 8-ch analog input and 4-ch analog output Yes No
108-G180 DCON Gateway Yes No coming soon
108-P120 4-ch, 32 bites up-down counter Yes No

102-M1x1 1-axis Motion connector series No Yes
BCD-4020FU 1-axis 2-phase stepper driver No Yes
BCD-4020FB 1-axis Micro stepper driver No Yes
Ezi-Servo close-loop stepper driver No Yes coming soon
Kingservo King servo motor & driver No Yes coming soon
Table 1-2: Motionnet compatible devices
12
1.6.
Figure 1-3: EasyPAC system architecture
1.7. 24V DC
Universal AC input / Full range

Protections: Short circuit / Overload / Over Voltage
13
Cooling by free air convection

Can be installed on DIN rail TS-35 / 7.5 or 15
NEC class 2 / LSP compliant
LED indicator for power on
DC OK relay contact
No load power consumption < 0.75W
100% full load burn-in test
Safety standards: CE / UL / RU
14
Table 1-3: hardware specification
15
1.8.
EasyPAC EPC-1100

System CF card (WinCE5.0 / ProConOS)
CD
TPM
16
2.
2.1.
EasyPAC
Figure 2-1: outline and dimension
2.2.
EasyPAC
Figure 2-2: Connections of EasyPAC
17
Name Function
COM D-SUB COM port (COM1/COM3) connector
CN1 D-SUB COM port (COM2/COM4) connector
CN2 SCSI-20Pin Digital I/O connector
CN3 RJ-45, expanding connector of Motionnet DI/O and AI/O
CN4 RJ-45, expanding connector of Motionnet Motion
Power 3 Pin connector
CF Extension slot of CF
USB Standard USB 2.0connector
LAN RJ-45, LAN 10/100
SW1 System operating mode setting
SW2 Baud rate of Motionnet setting
Table 2-1: EasyPAC connectors and switches
2.2.1. COM Port: COM & CN1

EasyPAC COM Port COM CN1 DB15 RS-422
RS-232 COM RS-422 RS-232COM1 RS-422COM3
RS-232CN1 RS-422 RS-232COM2 RS-422COM4 RS-232
15-pin
Figure 2-3: COM port pin assignment
18
Figure 2-4: CN1 pin assignment
2.2.2. GPIO: CN2

8DI / 8DO
Figure 2-5: pin assignment of CN2
19
GPIO (NPN)
Figure 2-6: signal circuit of input NPN
GPIO (PNP)
Figure 2-7: signal circuit of input PNP
GPIO (NPN)
Figure 2-8: signal circuit of output NPN
20
2.2.3. Ring_0: CN3

Motionnet Ring_0 CN3
Pin Pin Mark Pin Description

1 NC Reserved
2 NC Reserved
3 RS485+ Motionnet protocol +
4 NC Reserved
5 NC Reserved
6 RS485- Motionnet protocol -
7 NC Reserved
8 NC Reserved
Table 2-2: pin assignment of CN3
2.2.4. Ring_1: CN4

Motionnet Ring_1 CN4

1 NC Reserved
2 NC Reserved
3 RS485+ Motionnet protocol +
4 NC Reserved
5 NC Reserved
6 RS485- Motionnet protocol -
7 NC Reserved
8 NC Reserved
Table 2-3: pin assignment of CN4
21
2.2.5. 24V DC Input

1 24 Power 24V
2 0 GND
3 FG Frame GND
Table 2-4: main power connector pin assignment
2.2.6. USB Connector

EasyPAC USB
USB signal pin pin USB signal

Vcc 1 5 Vcc
USB_D0- 3 6 USB_D1-
USB_D0+ 5 7 USB_D1+
Ground 7 8 Ground
Table 2-5: USB connector pin assignment
2.2.7. LAN Connector

EasyPAC 10 / 100 Mbps LAN IP 192.168.1.100
MyConfig IP
22
Table 2-6: LAN connector pin assignment
2.3. Rotary Switch
EasyPAC Run Mode

Motionnet Baud-Rate
2.3.1. System Mode : SW1
SW1 EasyPAC Run ModeSW1 Run Mode

SW1 Operating Mode Details
0 MyConfig Server Mode Set default IP address 192.168.1.100
1 MyConfig Server Mode
2 MyLink Server Mode
3 Backup Backup whole system to CF card
4 Restore System restore from CF card
5 Reserve Reserve
6 Reserve Reserve
7 KW Mode + Modbus Slave over RTU Cold
8 KW Mode + Modbus Slave over RTU Stop
9 KW Mode + Modbus Slave over RTU Warm
A KW Mode + Modbus Slave over TCP Cold
B KW Mode + Modbus Slave over TCP Stop
C KW Mode + Modbus Slave over TCP Warm
D KW Mode Cold
E KW Mode Stop
F KW Mode Warm
Table 2-7: SW1 assignment
23
2.3.2. Motionnet Baud-Rate: SW2

SW2 Motionnet Baud-Rate
Baud-Rate Ring_010 Mbps,
Ring_110 MbpsSW2 Motionnet Baud-Rate
Table 2-8: SW2 assignment
24
3.
EasyPAC PC EasyPAC PC
3.1.
PC
C:\TPM\EasyPAC\
EasyPAC
1. CF Card
2. RSW1 3
3. ( EPCBACKUP\)

E
3.2.
PC
C:\TPM\EasyPAC\
EasyPAC
1. CF Card
2. RSW1 4
3. ( CF EPCBACKUP\ EasyPAC)

E
4.
25
4. Motionnet
Motionnet NPM (Nippon Pulse Motor) G9000
Motionnet G9000 20 Mbps I/OCPU
emulationMotionnet 15.1 sec
4 BytesMotionnet 256 Bytes
Motionnet
real-time
Motionnet
4.1. Motionnet
1. Motionnet HUB
2. 2.5 Mbps5 Mbps10 Mbps20 Mbps (Max)
3. Motionnet Ring_0 Ring_1
Ring_0DI/OAI/O Pulse counter 64
Ring_1 32
4. 100
0.6
4.2. Motionnet
Motionnet
Motionnet NPM RS-485
Motionnet
Memory Mapping Motionnet
I/O
26
SENSOR
SENSOR SENSOR
SENSOR ACTUATOR
ACTUATOR ACTUATOR
ACTUATOR
SENSOR SENSOR ACTUATOR ACTUATOR
ACTUATOR ACTUATOR
MOTOR
Motion.NET
100m Master
Extension Analog I /O Digital I /O Motion
SENSOR
SENSOR SENSOR
SENSOR ACTUATOR
ACTUATOR ACTUATOR
ACTUATOR
SENSOR SENSOR ACTUATOR
ACTUATOR ACTUATOR
ACTUATOR
MOTOR
WIRE-SAVING / LONG-DISTANCE
Figure 4-1: wire-saving and long-distance support
Master 20Mbps
Slave Module
x 64 Slave
CYCLE TIME 64 Slaves < 1.04ms

1.04ms
0.56ms
32 64 NODE
512 -DI / 512-DO 1024 -DI / 1024-DO
On 20Mbps , Max. Cycle Time = 15.1 x NODE + 71.4 [FIFO Time] in us
HIGH-SPEED / TIME-DETERMINISTIC
Figure 4-2: high-speed and time deterministic support
27
4.3. Motionnet Product Family
Figure 4-3: EasyPAC and Motionnet product family
28
5.
EasyPAC VGA PAC
TPM
1. MyConfig
2. MyLink
3. MyDataCheck
5.1. MyConfig
MyConfig EasyPAC
Intel Centrino PC NB
1 GBytes RAM
Windows XP Windows 7
RJ-45 10 / 100 / 1000 Mbps
EasyPAC 2
MyConfigSvr.exe
EZPACSDK.dll
PC 1
MyConfig.exe
5.1.1. EasyPAC
SW1 1 PC EasyPAC
192.168.1.100 EasyPAC
MyConfigSvr.exe
EasyPAC IP
29
5.1.2. PC
5.1.2.1 MyConfig
MyConfig.exe EasyPAC IP MyConfig

adminguest admin guest
admin guest EasyPAC
IP 192.168.1.100admin
Figure 5-1: MyConfig login page
5 PAC InfoUpdateAES codeModbus parametersAbout

MyConfig
Figure 5-2: system information of EasyPAC
30
5.1.2.2 PAC Info
Information EasyPAC Settings 6

IPSubnet MaskGatewayAdmin PasswordUser Password
Figure 5-3: Hardware basic information
Figure 5-4: change settings of IP, subnet mask, gateway, admin and guest password
Set IP
IP IP Save EasyPAC IP
EasyPAC
Set subnet mask

Save EasyPAC
Set gateway
gateway Save gateway EasyPAC
Set admin password

Save
EasyPAC
31
Set guest password

Save
EasyPAC
5.1.2.3 Update
Check for Updates
Figure 5-5: connect to FTP server
1. PC 2. EasyPAC 3. FTP ?.?
Figure 5-6: update software page
MULTIPROG
32
Figure 5-7: reminder of closing MULTIPROG
(Y)
Download from FTP
Figure 5-8: download from FTP
Upload to EasyPAC
Figure 5-9: update to EasyPAC
MyConfig.exe
Figure 5-10: progress bar of software updating
PC
Figure 5-11: update complete dialog
33
EasyPAC
Figure 5-12: update complete dialog
EasyPAC
5.1.2.4 AES Code
Figure 5-13: dialog window for generating AES key
Secure ID Secure ID EasyPAC SecureID

AES code
EasyPAC AES SI Key AES
SI Key 16 16
Figure 5-14: insufficient digits
5.1.2.5 Modbus Parameter
Modbus EasyPAC KW Modbus

34
TCP RTU
Save Settings EasyPAC
MyConfig
Figure 5-15: setting of Modbus parameter dialog
5.1.2.6
admin guest IPMaskGatewayModbus

IP TPM
SW1 0
1.
2. EasyPAC IP192.168.1.100 MyConfig
3. "PAC Info" Saved IPAddress IP
5.2. MyLink
MyLink TPM
MyLink AIODIOCounterGateway
PC Hardware: PC or laptop with Intel Centrino up CPU

Memory: 1GB RAM
OS: Windows 2000/XP/Win7
LAN card: RJ-45 10/100/1000 Mbps
35
PC MyLink.exe
5.2.1. Interface
EasyPACUSB-L131 EasyPAC IP Addr editbox

IP EasyPAC Baud Rate SW2
Figure 5-16: screenshot of settings
Figure 5-17: MyLink main functions
MyLink
File
KW
Ring

Figure 5-18: functions under file option
Tools

1. Initial Settings Ring_0 & Ring_1 Ring
36
2. Refresh MyLink
Figure 5-19: functions under tools option
Windows

Figure 5-20: functions under window option
Help
MyLink
5.2.2.
Initial Ring_0 Ring_1 USB-L131

Motionnet Ring_0 Ring_1 EasyPAC MyLink
KW EasyPAC
EasyPAC Ring_0 Ring_1
Figure 5-21: slave devices found by the Motionnet master
37
Figure 5-22: the property window
Figure 5-23: screenshot of updating properties
Description

Figure 5-24: property description
Ring Status
MyLink Ring_0 Ring_1 EasyPAC IP
Error Ring Ring
Ring 10000
Figure 5-25: Ring status
Message
Ring Status MyLink :

38
Figure 5-26: message box information
System Configuration
Save Ring 0<IP<33 Save
EasyPAC
EasyPAC Load Load
Figure 5-27: load and save of the system configuration
5.2.3. DIO Module Operation
Figure 5-28: information of connected devices

Ring DIOinput16 channelsoutput16 channels

39
DIO

DIO DO DI DO
DI DI
5.2.4. AIO
5.2.4.1 A104 & A180
AIO A104 A180 channel AI channel
Figure 5-29: information of connected devices

AIO

AO DIO Ring / IP / Type
AI Operation 8 channel AI
channel 1.25 / 2.50 / 5.0 / 10.0

AO AO AI
5.2.4.2 108-A122
108-A122 A104 A180 EEPROM
40
Figure 5-30: 108-A122 slave module

108-A122 EEPROM
Figure 5-31: properties of 108-A122

108-A122 ModeGainValueTypePowerOnValue
ValueType EEPROM
Mode
Gain 8 :+/-80mV+/-160mV+/-320mV+/-640mV+/-1.28V
+/-2.56V+/-5.12V+10.24/-5.12V-5.12V
ValueType
API :
+10.24V
Range = 10.24*2Start = -10.24Value APIa122_get_input_value
Vin=Value x Range/ 65536 + Start
PowerOnValue108-A122 0

41
(Ex :
AO1A1+A3+)
Figure 5-32: screenshot of the example
Mode /
ValueType

MyLink
EEPROM
EEPROM
Figure 5-33: save parameters to EEPROM
EEPROM MyLink File->Backup File to
42
Figure 5-34: save configuration dialog
AI I.PAC, II.EEPROM
1. PAC
AI.kwcfg PAC KW
PAC Save
PAC AI 48~63
2. EEPROM

1. EEPROM EEPROM
2. EEPROM
3. Save
Save to PAC AI Axis

, Axis
Figure 5-35: saving status window
43

108-A122 108-A122
Figure 5-36: duplicate configuration option
File->Recovery Config From
Figure 5-37: recover profile dialog

i. Other Axis
ii.
iii. Ring_0 Ring_0
Ring_0
iv. "LoadAll"
Figure 5-38: recovery status window
File->Backup File to EEPROM
44
5.2.5. PIO Counter
Counter Channel0 & Channel1
Figure 5-39: MyLink control for counter module

Counter AI/O
DI/O 5

108-P120 ModeTimeAlarmOutAverageEdgePowerOnSafeValue
UpperLimitLowerLimit Mode & Time Group
Channel Group0 IN0 + IN1Group1 IN2 + IN3

1. Cycle Time
2ms 200ms
2. Mode
108-P120 5 CounterFrequencyPeriodGTGC
Mode name Parameter Description

0
Time
Counter 1
Average Unused
Edge RiseFall
45

0 to 4,294,967,295
Upper Limit

0 to 4,294,967,295.
Lower Limit

> UpperLimit or
AlarmOut
< LowerLimit

0.1s/1s/10s/100s
1s 1 INx 1000
Time
1KHz

Frequency
Average unused
Edge RiseFall
Upper Limit Hz (0 ~ 4,294,967,295)
Lower Limit Hz (0 ~ 4,294,967,295)
AlarmOut < LowerLimit > UpperLimit
INx ON-OFF duty cycle

800ms
2ms/20m/200ms/800ms
INx
INx 1.5ms 2ms
Time 20ms 10

Period
INx 1.5ms~500ms
800ms
Average = 12
Average

Edge RiseFall
Upper Limit ms (0 ~ 4,294,967,295)
Lower Limit ms (0 ~ 4,294,967,295)
Gate Time Gate ON or OFF

0.1ms
Time Unused
GT
Average Unused
Edge RiseFall
Upper Limit Sec (0 ~ 4,294,967,295)
46

Lower Limit Sec (0 ~ 4,294,967,295)
Gate Counter GT GT GC

Encoder 1mm / pulse 1000 1M
channel
IN0Count0 IN2Count1
IN1Gate0 IN3Gate1
GC Counter IN0 IN2 Gate IN1
IN3
Time Unused
Average Unused
Edge RiseFall
Upper Limit (0 ~ 4,294,967,295)
Lower Limit (0 ~ 4,294,967,295)
3. DO Output
AlarmOut: 108-P120 AlarmOut Mode Counter Time
UpperLimit LowerLimit 0
AlarmOut AlarmOut NO NC

PowerOn Value: 4 bit0b0000 1 ON 0
OFF DO3DO2DO1DO0
Safe Value: 4 bit0b0000 1 ON
0 OFF DO3DO2DO1DO0

108-P120 0 1

ModeFrequency
Time
Average1
Note: AIO EEPROM
47
5.2.6. Single Axis Module
Figure 5-40: screenshot of single axis module

M171 TPM G9103A EEPROM
MyLink G9103A EEPROM 1. Group
2. 5.6.5.1 SA_LoadConfigFile

Interface I/O 5.6.5.10
SA_GetSensor

Group
5.2.7. Grouped Axes

Group
48
Figure 5-41: group up axes
Ring_1
Figure 5-42: set group dialog
None Group Axis IP11

Group1~7>>><<<
Figure 5-43: grouped axes
M121 Group1

Figure 5-44: file options
Save
49
PCPAC EEPROM
Figure 5-45: the saving dialog for group axes
1. PC
FilePath
Save
InformationInterface I/OPulse I/O
Operation
2. PAC
AI
48~63 Axis 1~32
AI Axis PAC kwcfg
3. EEPROM
EEPROM
EEPROM
Save
Recovery

50
Figure 5-46: recovery dialog with file source
1. File
PC Source Target

2. Self EEPROM
EEPROM Target EEPROM

3.Other Axis
Source
Target
LoadAll
51
Edit Path File

KW kwpts tool->Edit Path

[Path]
Figure 5-47: screenshot of the editing interpolation motion path
6 "Edit Path Parameters"

path Segments

[Segments]
Segments Group XY XY
EEPROM X Y
Figure 5-48: picking IP of X and Y axis
Figure 5-49: parameters of a segment

52
Segments Type Line Arc Line X & Y

ARC 5 "Add Segment"
">>""<<"
Figure 5-50: motion profile formed by segments
Save Path to PAC "Save"

EasyPAC
Figure 5-51: motion path of two axes interpolation
53
[Path]
Count = 8
StrVe l= 100
MaxVel = 6000
Tacc = 0.1
Tdec = 0.1
Curve = T
[Segments]
Seg1.Type = Line
Seg1.Dist8 = 0
Seg1.Dist9 = 1000
Seg2.Type = Arc
Seg2.Ax = 8
Seg2.Ay = 9
Seg2.Cx = 1000
Seg2.Cy = 0
Seg2.Ex = 1000
Seg2.Ey = 1000
Seg2.Dir = Cw
Seg3.Type = Line
Seg3.Dist8 = 2000
Seg3.Dist9 = 0
Seg4.Type = Arc
Seg4.Ax = 8
Seg4.Ay = 9
Seg4.Cx = 0
Seg4.Cy = -1000
Seg4.Ex = 1000
Seg4.Ey = -1000
Seg4.Dir = Cw
Seg5.Type = Line
Seg5.Dist8 = 0
Seg5.Dist9 = -1000
54
Seg6.Type = Arc
Seg6.Ax = 8
Seg6.Ay = 9
Seg6.Cx = -1000
Seg6.Cy = 0
Seg6.Ex = -1000
Seg6.Ey = -1000
Seg6.Dir = Cw
Seg7.Type = Line
Seg7.Dist8 = -2000
Seg7.Dist9 = 0
Seg8.Type = Arc
Seg8.Ax = 8
Seg8.Ay = 9
Seg8.Cx = 0
Seg8.Cy = 1000
Seg8.Ex = -1000
Seg8.Ey = 1000
Seg8.Dir = Cw
xxx.kwpts
[Path]
Count = 8 8 100
StrVel = 100 pps 0~6666666
MaxVel = 6000 pps 0~6666666
Tacc = 0.1 secfloat
Tdec = 0.1 secfloat
Curve: T T curve S curve
01000
Seg1.Type = Line
Seg1.Dist8 = 0 8 8 0 Dist1~Dist32
Seg2.Type = Arc
55
Seg2.Ax = 8 8 X 1~32
Seg2.Ay = 9 9 Y 1~32
Seg2.Cx = 1000 X 1000
-134217728 ~ 134217727
Seg2.Cy = 0 Y 0
-134217728 ~ 134217727
Seg2.Ex = 1000 X 1000-134217728 ~ 134217727
Seg2.Ey = 1000 Y 1000-134217728 ~ 134217727
Seg2.Dir = Cw
Seg3.Type = Line
Seg4.Type = Arc
Seg4.Ax = 8 8 X 1~32
Seg4.Ay = 9 9 Y 1~32
Seg4.Cx = 0 X 0
-134217728 ~ 134217727
Seg4.Cy = -1000 Y -1000
-134217728 ~ 134217727
Seg4.Ex = 1000 X 1000-134217728 ~ 134217727
Seg4.Ey = -1000 Y -1000-134217728 ~ 134217727
Seg4.Dir = Cw

56
Figure 5-52: screenshot of axis control window
"SVON"SVON
Servo Drive Alarm Reset "RALM"RALM
Reset
Repeat Dir
Figure 5-53: motion in error status
ERROR ()
ERROR
57
Figure 5-54: restore from error state
ERROR ERROR ()
Group SVON Group
Figure 5-55: check the group folder to update axis parameters
Group Group
Figure 5-56: axis group properties
58
Figure 5-57: axis properties window
MoveMode
StopMode
VelProfileT S
InterpolationMode
Group VelProfileLine / Arc
T-Curve 2 / 3 / 4
Figure 5-58: more than two axes are possible to run together in line interpolation mode
S-Curve 2 2
Figure 5-59: interpolation move in arc mode

59
Reset
Figure 5-60: error message if not two axes are doing arc interpolating motion
5.3. MyDataCheck
EasyPAC
1. MULTIPROG I/O Configuration Memory
2. Modbus Memory
1 GBytes RAM
Windows XP Windows 7
PC MyDataCheck.exe
ProConOS/MULTIPROG I/O Configuration

I/O Configuration Memory Real%I%Q Virtual%M
INPUT%IOUTPUT%QVARCONF%M
Figure 5-61: three tabs of each type of memory
Ring_0 48 IP0~IP47Motionnet DI/O 16 IP48~IP63Motionnet AI/O Counter
INPUT:
Local DI (1) + Motionnet DI (IP0~IP47) + Motionnet AI (IP48~IP63)
= 1 + 48 (IP) x 4 (Port) x 1 (Byte) + 16 (IP) x 8 (Channel) x 2 (Byte)
= 1 + 192 + 256
60
= 449 (Byte)
OUTPUT:
Local DO (1) + Motionnet DO (IP0~IP47) + Motionnet AO (IP48~IP63)
= 1 + 48 (IP) x 4 (Port) x 1 (Byte) + 16 (IP) x 8 (Channel) x 2 (Byte)
= 1 + 192 + 256
= 449 (Byte)
The reference table is shown below.
Type Length (Byte)
Local DI 1
Non Retain
INPUT (%I) Motionnet DI 449 192
0 ~ 448
Motionnet AI 256
Local DO 1
Non Retain
OUTPUT (%Q) Motionnet DO 449 192
0 ~ 448
Motionnet AO 256
MB (Coil) 1024
MB (Holding Register) 1024
MB (Discrete Input) 1024
Non Retain MB (Input Register) 1024
48000
0 ~ 47999 User Define 35904
VARCONF (%M) Motion (Single) 5000
Motion (Multiple) 1000
Gateway 2000
Retain
User Define 13312 13312
10000000 ~ 10013311
Table 5-1: data type with memory occupation table
Real (%I, %Q)

%IX%IX1.2 1 2 0~7 8
%IQ%QX1.2 1 2 0~7 8
%IB8 %IB1 1 0~7
%QB8 %QB1 1 0~7
Motionnet DI/O 40~3

Local DI/O 8in / 8out 0 %IB0%IX0.0~%IX0.7%QB0%QX0.0~%QX0.7
%IW AI 1 WORD
61
%QW AO 1 WORD
Motionnet AI/O 80~7

%ID Counter 1 DWORD
Motionnet Counter 40~3
VARCONF
Virtual%M
%MX BOOL
%MB BYTE
%MW WORD
%MD DWORD
Non Retain 8
1. MBCoil Modbus Tag
2. MBHoding Register Modbus
3. MBDiscrete Input Modbus Tag
4. MBInput Register Modbus
5. User Define
6. MotionSingle
7. MotionMultiple
8. Gateway
Retain Memory %MB3.10000000 %MB3.10013311 13312 Bytes
MULTIPROG Memory Address

Type
Begin Access Tag End Access Tag
Local DI %IB 0 %IX 0.0 %IB 0 %IX 0.7
Motionnet DI %IB 1 %IX 1.0 %IB 192 %IX 192.7
Motionnet AI %IB 193 %IW 193 %IB 448 %IW 447
Local DO %QB 0 %QX 0.0 %QB 0 %QX 0.7
Motionnet DO %QB 1 %QX 1.0 %QB 192 %QX 192.7
Motionnet AO %QB 193 %QW 193 %QB 448 %QW 447
MB (Coil) %MB 3.0 %MB 3.1023
MB (Holding Register) %MB 3.1024 %MB 3.2047
MB (Discrete Input) %MB 3.2048 %MB 3.3071
MB (Input Register) %MB 3.3072 %MB 3.4095
User Define %MB 3.4096 %MB 3.39999
Motion (Single) %MB 3.40000 %MB 3.44999
Motion (Multiple) %MB 3.45000 %MB 3.45999
62
MULTIPROG Memory Address

Type
Begin Access Tag End Access Tag
Gateway %MB 3.46000 %MB 3.47999
User Define %MB 3.10000000 %MB 3.10013311
Table 5-2: MULTIPROG memory table
Modbus Memory
Modbus Memory 4
Coil Tag
Real I/O 0~1543BOOL
Virtual 1544~9735BOOL
Holding Register
Real I/O 0~127WORD
Virtual 128~639WORD
Discrete Input Tag
Real I/O 0~1543BOOL
Virtual 1544~9735BOOL
Input Register
Real I/O 0~127WORD
Virtua 128~639WORD
Modbus Memory Address

Type
Begin End
Local DI 0 (BOOL) 7 (BOOL)
Motionnet DI 8 (BOOL) 1543 (BOOL)
Motionnet AI 0 (WORD) 127 (WORD)
Local DO 0 (BOOL) 7 (BOOL)
Motionnet DO 8 (BOOL) 1543 (BOOL)
Motionnet AO 0 (WORD) 127 (WORD)
MB(Coil) 1544 (BOOL) 9735 (BOOL)
MB(Holding Register) 128 (WORD) 639 (WORD)
MB(Discrete Input) 1544 (BOOL) 9735 (BOOL)
MB(Input Register) 128 (WORD) 639 (WORD)
User Define
Motion(Single)
Motion(Multiple)
Gateway
User Define
Table 5-3: Modbus memory table

63
5.3.1. Data Address Mapping

MyDataCheck EasyPAC Motionnet slave
Figure 5-62: MyDataCheck icon and main window
TitleMyDataCheck V11.819.0.3
Virtual Virtual Memory Address
Ring_0 Motionnet Real I/O ModulesDI/O AI/OCounter Memory Address
Ring_1 Motionnet Axis ModulesG9103A Memory Address
5.3.1.1 Ring_0 Memory Address Mapping
Figure 5-63: Ring_0 memory address mapping
Module Ring_0
IPIP0~IP47 DI/OIP48~IP63 AI/O Counter
Mode Modbus
64
5.3.1.2 Ring_1 Memory Address Mapping
Figure 5-64: Ring_1 memory address mapping
Ring_1 Axis
IPIP1~IP32 IP1=AXIS_01 ~ IP32=AXIS_32
Mode Modbus
5.3.1.3 Virtual Memory Address Mapping
Figure 5-65: virtual memory address mapping
65
Mode Modbus
Modbus Data Type Coil
Discrete Input
Hoding Register
Input Register
Modbus Data Modbus MULTIPROG %M
EasyPAC Data MULTIPROG %M Modbus
5.3.2.
Modbus
Primary tables Object type Type of
Discrete Input Single bit Read-Only
Coils Single bit Read-Write
Input Registers 16-bit word Read-Only
Holding Registers 16-bit word Read-Write
Table 5-4: data type of Modbus
Ring_0 DI/O
DI MODBUS DO MODBUS
Discrete Input Coil
IP
%I Begin End %Q Begin End
DEC HEX DEC HEX DEC HEX DEC HEX
L %IB 0 0 0 7 7 %QB 0 0 0 7 7
%IB 1 8 8 15 F %QB 1 8 8 15 F
%IB 2 16 10 23 17 %QB 2 16 10 23 17
0
%IB 3 24 18 31 1F %QB 3 24 18 31 1F
%IB 4 32 20 39 27 %QB 4 32 20 39 27
Table 5-5: table of Ring_0 DI/O
IP L Local DI%IB0Local DO%QB0

0 0 Motionnet DI/O 0~47 48
DI/O4 DI%IB 1 ~ 44 DO%QB 1 ~ 4 32
in / 32 out
16in / 16out
66
Ring_0 AI/O and Counter

AI COUNTER MODBUS AO MODBUS
IP Input Registers Holding Registers
%I %Q
DEC HEX DEC HEX
%IW 193 %ID 193 0 0 %QW 193 0 0
%IW 195 1 1 %QW 195 1 1
%IW 197 %ID 197 2 2 %QW 197 2 2
%IW 199 3 3 %QW 199 3 3
48
%IW 201 %ID 201 4 4 %QW 201 4 4
%IW 203 5 5 %QW 203 5 5
%IW 205 %ID 205 6 6 %QW 205 6 6
%IW 207 7 7 %QW 207 7 7
Table 5-6: table of Ring_0 AI/O and counter
IP: 48 48 Motionnet AI/OCounter 48~63 16

AI/O8 AI%IW193 ~ 2078 AO%QB193 ~ 207
8in / 8out 8in / 4out
Counter 4 IN%ID193 ~ 205
AI/O WORD(Hex 0x0000~0xFFFF) Gain

AI 0 Gain 10V %IW193 = 0x0000-10V~ 0xFFFF+10V
Counter108-P120 DWORDHex 0x00000000~0xFFFFFFFF

Mode
1. Counter
2. Frequency (Time 0.1s~100s)
Time 1s IN0 1000 %ID 193 = 0x000003E8 1KHz
3. Period ON-OFF duty cycle ns
IN0 1 2ms %ID 193 = 0x001E8480 2000000ns
500Hz
4. GT Gate Time Gate ON OFF 0.1ms
IN0 IN0 Gate 2 2000ms/0.1ms= 20000 %ID 193 =
0x00004E20
5. GC Gate Counter
Channel 0 Channel 1
IN0Count0 IN2Count1
IN1Gate0 IN3Gate1
IN1 and IN3Gate
IN0 and IN2Count
67
Ring_1 Axis
AXES MODBUS
Input Registers
IP
Begin End
DEC HEX DEC HEX
AXIS_01.1 Command 640 280 641 281
AXIS_01.2 Position 642 282 643 283
1 AXIS_01.3 current velocity 644 284 645 285
AXIS_01.4 io_status 646 286 647 287
AXIS_01.5 motion done 648 288 648 288
Table 5-7: table of Ring_1 axis
IP: 1 1 Motionnet IP1 AXIS_01 1~32 32

IP1 is for Axis_01
AXIS_01.1 command: DWORD
0x00000000~0xFFFFFFFF (Pulse).
AXIS_01.2 position: DWORD
0x00000000~0xFFFFFFFF (Pulse).
AXIS_01.3 current velocity: DWORD
0x00000000~0xFFFFFFFF (PPS).
AXIS_01.4 io_status: DWORD
I/O status 32 Bit0~Bit151 ON0 OFFON/OFFBit16 ~
Bit31
Bit0 (RDY): RDY pin input
Bit1 (ALM): Alarm Signal
Bit2 (+EL): Positive Limit Switch
Bit3 (-EL): Negative Limit Switch
Bit4 (ORG): Origin Switch
Bit5 (DIR): DIR output
Bit6 (EMG): Emergency signal input
Bit7 (PCS): PCS signal input
Bit8 (ERC): ERC pin output
Bit9 (EZ): Index signal
Bit10 (CLR): Clear Counter Input
Bit11 (Latch): Latch signal input
Bit12 (SD): Slow Down signal input
Bit13 (INP): In-Position signal input
Bit14 (SVON): Servo-ON output status
Bit15 (RALM): Alarm Reset output status
68
AXIS_01.5 motion done: WORD

Motion done WORD 0x0000~0x000B0x000C ~ 0xFFFF
0x0000: Stop
0x0001: Wait STA
0x0002: Wait ERC finish
0x0003: Wait Dir change
0x0004: BackLashing
0x0005: Wait PA/PB
0x0006: In FA motion
0x0007: In FL motion
0x0008: Acc
0x0009: In FH motion
0x000A: Dec.
0x000B: Wait INP
Virtual Data
Digital output:
MODBUS
%M
Coil
%M
Begin End
Begin End
DEC HEX DEC HEX
B 3. X 3.
0 0 0 0 7 1544 608 1551 60F
Table 5-8: digital output of virtual data
%MB 3.0 = Coil 1544 ~ Coil 1551

%MX 3.0.0 = Coil 1544
%MX 3.0.1 = Coil 1545
%MX 3.0.2 = Coil 1546
%MX 3.0.3 = Coil 1547
%MX 3.0.4 = Coil 1548
%MX 3.0.5 = Coil 1549
%MX 3.0.6 = Coil 1550
%MX 3.0.7 = Coil 1551
69
Digital input:
MODBUS
%M
Discrete Input
%M
Begin End
Begin End
DEC HEX DEC HEX
B 3. X 3.
2048 2048 0 2048 7 1544 608 1551 60F
Table 5-9: digital input of virtual data
%MB 3.2048 = Discrete Input 1544 ~ Discrete Input 1551

%MX 3.2048.0 = Discrete Input 1544
Register:
MODBUS MODBUS
Holding Input
%M %M
Registers Registers
DEC HEX DEC HEX
W 3. W 3.
1024 128 80 3072 128 80
Table 5-10: register of virtual data
%MW 3.1024 = Holding Registers 128

%MW 3.3072 = Input Registers 128
5.3.3.
MyLink
70
Figure 5-66: generated memory address table by .mcg file
MyLink Export System File

Save Excel
Mode Modbus
5.3.4. Mapping Tables
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
6. MULTIPROG Introductions
MULTIPROG is an IEC-61131 Programming System developed by KW and MULTIPROG
Express 5.35 is a compact version to be used with EasyPAC. The main features of MP Express 5.35 are
No. of IO per project 128 KB
No. of User Task 5
No. of POUs 256
Global Variables 5000
Local Variables per POU 1500
Languages Support 5
MP Express 5.35 supports the following languages:

Textual Language
Instruction List (IL)
Structured Text (ST)
Graphical Language
Function Block Diagram (FBD)
Ladder Diagram (LD)
Sequential Function Chart (SFC)
MP Express 5.35 supports the following data types:

X is bit operation
B is byte operation
W is word operation
D is double word operation
%I is Input symbol
%Q is Output symbol
%M is Virtual symbol
Example
%IX1.7 The 7th bit in 1st Byte at input data, must be BOOL type
%IB100 The 100th Byte at input data, must be SINT / USINT / BYTE type
%QW201 The 201th, 202th Bytes at output data, must be INT / UINT / WORD type
%QL100 The 100th to 107th Bytes at output data, must be LREAL type
%MD3.1024 The 1024th to 1027th Bytes at virtual memory
Must be DINT / UDINT / REAL / TIME / DWORD type
93
6.1. MPExpress5.35 installation
1 GBytes RAM
Windows XP Windows 7(32,64)
RJ-45 10 / 100 / 1000 Mbps
Install EasyPAC software and tools

Install MULTIPROG 5.35.252 Express
Install MULTIPROG Patch Files
MULTIPROG 5.35 Express
Figure 6-1: installed MULTIPROG Express
5.35 Express Info
Figure 6-2: figure out the software version info
94
5.35 252
Figure 6-3: the software version window
EasyPAC
Figure 6-4: install product CD
Auto.exe
Install Products
95
Figure 6-5: procedure to setup EasyPAC
Install EasyPAC software and tools EasyPAC
Figure 6-6: install the correct utilities for EasyPAC
96
6.1.1. Install EasyPAC Software and Tools

C:\TPM\EasyPAC Finish
Figure 6-7: click Finish button to complete the installation
6.1.2. Install MULTIPROG 5.35.252 Express

Install MULTIPROG 5.35.252 Express
Figure 6-8: install MULTIPROG
MULTIPROG 5.35.252 Express KW

C:\Program Files\KW-Software Windows7 64bit OS C:\Program Files
97
(86)\KW-Software
MICROSOFT Visual C++ 2005 runtime libraries
MICROSOFT Visual C++ 2008 runtime libraries
MULTIPROG 5.35.252 Express Build 252
MULTIPROG ProConOS AddOn
MICROSOFT Visual C++ 2005/2008 runtime Libraries Install
Figure 6-9: installation of MICROSOFT Visual C++ 2005/2008 runtime libraries
MULTIPROG 5.35.252 Express Build 252
Figure 6-10: screenshot of the setup wizard
I accept the terms of Next
98
Figure 6-11: accept the license agreement
, Next
Figure 6-12: leave the default path unchanged
Finish
Figure 6-13: installation finish

99
MULTIPROG ProConOS AddOn
Figure 6-14: installation of MULTIPROG ProConOS AddOn
KW
6.1.3. Install MULTIPROG Patch Files

MULTIPROG Install MULTIPROG Patch Files
Figure 6-15: install MULTIPROG patch file
KW Add Patch
Finish

100
Figure 6-16: completion of installation of the patch file
6.1.4. Uninstall
Uninstall all for Win32 (Uninstall all for Win64)
EasyPAC
Figure 6-17: uninstall shield illustration
Finish
101
6.2.
6.2.1.
TPM Template
Figure 6-18: create a new project
102
6.2.2. DI
V000 ~ V003 BYTE

V000 I/O address %IB 1 (IP0: DI port1 input)
V001 I/O address
V002 I/O address %IB 2 (IP0: DI port2 input)
V003 I/O address
Figure 6-19: edit a variable in MULTIPROG
103
6.2.3. Compile
Make
Figure 6-20: making a project
104
6.2.4. Download
EasyPAC Cold Warm
Figure 6-21: download sequence
6.2.5. Debug
Debug on
Figure 6-22: enable the debug mode
105
6.3.
Figure 6-23: MULTIPROG main window with 3 icons activated
1. Project Tree: Project Tree Window

2. Edit Wizard:
3. Message: Message Windows PLC
Figure 6-24: approach to check FB
Edit Wizard FBs FB
106
6.4.
New Project
TPM Template
Figure 6-26: TPM Template in creation of a new project
TPM TPM Template
Figure 6-27: main window of MULTIPROG
107
Project Tree Window Edit Wizard Project Tree Window

INIT_AXES R_TRIG_1(CLK:=PLCMODE_RUN); ST
ST LD MULTIPROG
( MULTIPROG IEC 61131-3 PLC PAC )

( IEC 61131-3 5 )
( 1. LD Ladder diagram )
( 2. SFC Sequential Function Charts )
( 3. FBD Function Block Diagram )
( 4. ST Structured Text )
( 5. IL Instruction List )
6.4.1. LD
Figure 6-28: sequence to edit program
Project Tree Window Logical POUs Insert Program

NameType Program
Language LD OK
108
Figure 6-29: insert a new program
Invalid name!
Figure 6-30: input name and select LD language
109
OK LD
Figure 6-31: edit program window
Code: LD
Edit Wizard FB`s
NetWork Contact right Coil right

FB`s
Coil right
Figure 6-32: make a Contact right for instance
110
Figure 6-33: functions of the contact
Object Properties
Figure 6-34: contact/coil properties window
Name: 0 1 Bit
Data Type: BOOLUsage: VAR VAR_GLOBALVAR
VAR_GLOBAL ContactCoil Type
A B
111
Figure 6-35: newly created contact named PLCMODE_RUN
Name: PLCMODE_RUNData Type: BOOLUsage: VAR_GLOBALI/O adderss:
I/O %MX1.0.1
Figure 6-36: the contact / coil properties
%MX1.0.1 FX M8000 PLC True

False
%MX1.0.1 Usage:
VAR_GLOBAL
I/O
112
B Contact rightContact Left

B
Figure 6-37: change type of the Inside_coil01
C004 01 BOOLVARType B
OK I/O address
I/O FB`s FU`s
6.4.2. LD
MULTIPROG LD ST
IL FB`s ST IL
Time On Delay Edit
Wizard
113
Figure 6-38: select timer on-delay of the FB
Group Favorites TON
Figure 6-39: parameters of the TON
114
TON Help on FB/FU
Figure 6-40: the help file
TON IL ST Data Types
Figure 6-41: TON FB example with timer input PT
PT PT Type TIME T#1s

Time#1s 32Bit 1ms~4,294,976,295s T#1000ms
Figure 6-42: TON FB example with coil output Q

115
Figure 6-43: TON FB example with coil output Q specified
NameData TypeUsage OK Edit Wizard R_TRIG

Name: OK CLK
Figure 6-44: TON FB example with rising edge trigger properties set
Contact A 01
Q Q
Coil right
Figure 6-45: add a right powerrail attached to Q

116
Right powerail
Figure 6-46: add an ending on the end
Connect Powerrail
Figure 6-47: all nodes are connected by "Connect"
Q IN
CLK
C if else
B

jump
Figure 6-48: create a connector/jump object
117
Connector/Jump jump00 Jump
Figure 6-49: add a jump named jump00
MUL
Figure 6-50: multiplier
Help
Figure 6-51: help file for MUL
1 0Data Type: SINTINT

DINTUSINTUINTUDINT
SINT Short Integer 8Bit -128~127
INT Integer 16Bit -32768~32767

118
DINT Double Integer 32Bit -2,147,483,648~2,147,483,647
UDINT Unsigned DINT 32Bit 0~4,294,967,295
UINT Unsigned INT 16Bit 0~65535
USINT Unsigned SINT 8Bit 0~255

Table 6-1: data types could be set
IN1IN2OUT 3 Data Type

Name: DINT#32768DINT#2
2 Label jump00 Label OK
Figure 6-52: specify the name and value for the MUL
119
GE
Figure 6-53: consolidate all function blocks with SUB FB added
SUB jump01 MOVE

Label jump01 DINT WORD ALL FB`s
DINT_TO_WORD
Figure 6-54: MOVE with label "jump01"
120
6.4.3. I/O
I/O VAR VAR_GLOBAL GLOBAL I/O
I/O I/O
GLOBAL_Variables I/O
I/O
Table 6-2: available I/O table with the corresponding options
Name Type Address Description Usage

Init
Name
Int

121
Type I/O I/O

FB`s Help Type
Usage
Description Comment GX Developer

Address Byte I Q M X
Bit B Byte W Word D Double Word
Byte
Init PLC

SA_GlobalDefault
Figure 6-55: insert or remove a variable
Insert group Insert variable

I/O I/O
I/O
I/O I/O
122
Figure 6-56: the FBs dumped under Variables...
I/O
Figure 6-57: the FB details
I/O
Global_Variables Usage: VAR VAR_GLOBAL
123
Figure 6-58: set the usage as VAR_GLOBAL for sharing with other programs
6.4.4. I/O
IO_configuration
Figure 6-59: the IO configuration window
Propertues Input
124
Figure 6-60: check input/output parameters
Name
Task Task
Start address %IB0 Byte0
Length 449 Byte
End address %IB448 Byte
Comment
Driver Parameter
Figure 6-61: the driver information window
Driver name: EasyPAC
125
6.5.
EasyPAC PAC PC MyConfig

MyConfig
Figure 6-62: EasyPAC information shown by MyConfig
EasyPAC IP 192.168.1.100 MULTIPROG

Resource : PROCONOS Settings
Figure 6-63: get EasyPAC information from ProConOS Settings...
126
Figure 6-64: set the IP parameter
OK Project Control
Figure 6-65: the project control option
Download Download
Include Bootproject Download PLC
WarmCold Retain Memory
127
Figure 6-66: include the Bootproject into the project to be downloaded
PLC Run Mode is described in the following

Cold:

Including retain and non-retain.
SPG 1 (is executed if a cold start is done)
I/O driver function
Shared Memory (InputOutputVar)
Warm:

Non-retain
SPG 0 (is executed if a warm start is done)
I/O driver function
Shared Memory (InputOutputVar)
Stop:
All user defined tasks
ProConOS calls the program
SPG 2 (is executed if the program is stopped)
I/O driver function
128
EasyPAC (ProConOS) Boot

Power ONSW1 7 / 8 / 9A / B / CD / E / F EasyPAC WinCE OS
ProConOS PLC Run Mode
0: Default IP address + MyConfigSvr
1: MyConfigSvr
2: MyLinkSvr
7 ~ 9: ProConOS + Modbus RTU Server. 7: Cold Start, 8: Stop 9: Warm Start
A ~ C: ProConOS + Modbus TCP Server A: Cold Start, B: Stop C: Warm Start
D ~ F: ProConOS D: Cold Start E: Stop F: Warm Start
Debug on/off
Figure 6-67: the debug toggle button
Figure 6-68: FB with debug function turned on
PLC RUN 1 01
jump00 1
129
jump00 GE
great equal >= 32768 jump01
1 () 1
1,2,4,8,16,32,64,128,256,512,1024,2048,4096 SUB 1
0,1,3,7,15,31,63,127,255,511,1023,2047,4095
130
%QW1 0x1FFF IP 0 DO
DO
131
6.6. Functional Block, FB
PLCopen TPM
FB
FB Motion State
Diagram
6.6.1.
FB
1. Disable (Initial)
2. Standstill (no movement)
3. Homing (movement to reference position)
4. Discrete Motion (movement towards target position)
5. Continuous Motion (jogging)
6. Stopping (axis is stopped)
7. ErrorStop (axis error occurred)
8. Group Moving (movement towards target position of multiple axis)
Standstill Power command

Home Homing Standstill
Discrete Motion Continuous Motion Stopping
Standstill ErrorStop Reset Standstill
Operational FB
FB GA_Moving
132
133
6.6.2. Error Handling

Function Block Function Block
5.6.8
Figure 6-71: function blocks with error handling
6.6.3.
Function Block
Execute Busy Done ErrorCommandAborted
DoneInVelocity
Error
ErrorIDCommandAbortedExecute
Execute Function Block
Execute FB cycle
134
FB ExecuteExecute ()FB
DoneCommandAborted
ExecuteExecute
IEC 61131-3 FB open

jerk
FB FB
ErrorError FB
ErrorID Error Code List
DoneInVelocityError
Function Block Error state machine

Communication Error
Amplifier/Axis Error axis errorStandStill FB
Execute
Done FB
FB
Done
CommandAbortedCommandAborted
DoneCommandAbortedInVelocity
FB
Busy FB ExecuteBusyDone
AbortedErrorBusyBusyFB
FB Busy
Active
135
FB buffer Active FB Active

buffer Active Busy
Enable Valid
EnableValidEnable Valid FB
Enable Valid
Enable FB
Valid Error ErrorID
Valid
Execute / Done FB
Figure 6-72: the FB behavior
6.6.4.
Execute
Done FB
FB First
SecondThird
136
FB FirstFirst.Done
Second.ExecuteSecond.DoneIn13Third.Execute
Figure 6-73: function blocks sequence
137
Example 1: Function Block

Funcion Block FB1 AxisX 10, 20
0 Sequential Function Chart, SFC E
Execute
138
Example 2: FB
FB FB
139
140
Aborting motion
141
PLCopen FB
FB PLCopen B function block
E
V
142
6.6.5.
FB SA_ GA_ EP_ TPM FB

MC_ FB PLCopen FB
BOOL Execute
Enable HIGH
LOW
ValidDoneBusyActiveCommandAbortedErrorErrorID ErrorID
INT BOOL
Valid FB TRUE
FALSE Done FB Busy ACTIVE FB
CommandAborted FB FB Error
FB ErrorID Valid / DoneBusy
/ ActiveCommandAborted Error Error TRUE ErrorID
EasyPAC FB
Index Motion FB Name Description
6.6.5.1 GA_GroupDisable Disable the grouped motion function
6.6.5.2 GA_GroupEnable Enable the grouped motion function
6.6.5.3 GA_GroupReset Reset grouped axes to Standstill
6.6.5.4 GA_GroupStop Grouped axes stop
6.6.5.5 GA_MoveCircularAbsolute Grouped absolute circular motion with T or S curve
6.6.5.6 GA_MoveCircularRelative Grouped relative circular motion with T or S curve
6.6.5.7 GA_MoveLinearAbsolute Grouped absolute linear motion with T or S curve
6.6.5.8 GA_MoveLinearRelative Grouped relative linear motion with T or S curve
6.6.5.9 GA_MovePath Continuous motion with multiple segments
6.6.5.10 GA_PathSelect Select and download the continuous path from xxxx.kwpts
6.6.5.11 MC_Home Do homing of the axis
6.6.5.12 MC_MoveAbsolute Absolute move with T or S curve
6.6.5.13 MC_MoveRelative Relative Move with T or S curve
6.6.5.14 MC_MoveVelocity Velocity Move with T or S curve
6.6.5.15 MC_Power Enable Servo/Step Driver for IP1~IP32 (AXIS_01~AXIS_32)
143
Index Motion FB Name Description

6.6.5.16 MC_ReadActualPosition Get the axis actual position from encoder
6.6.5.17 MC_ReadAcutalVelocity Read the current actual velocity
6.6.5.18 MC_ReadAxisInfo Read the designated axis information
6.6.5.19 MC_ReadBoolParameter Get BOOL type data
6.6.5.20 MC_ReadParameter Get unsigned double integer type data
6.6.5.21 MC_ReadStatus Read the status of the axis
6.6.5.22 MC_Reset Reset the axis to standstill status
6.6.5.23 MC_Stop Stop the motion of the assigned axis
6.6.5.24 MC_WriteBoolParameter Set BOOL type data
6.6.5.25 MC_WriteEncoderPosition Set the encoder value
6.6.5.26 MC_WriteLogicPosition Set the logical position
6.6.5.27 MC_WriteParameter Set unsigned double integer type data
6.6.5.28 SA_CheckSystemConfig Check the system configuration
6.6.5.29 SA_ErrorJog Move the axis when limit switch is activated by jogging
6.6.5.30 SA_GetSensor Get the hardware sensor signal
6.6.5.31 SA_LoadConfigFile Load Single Axis configuration file
6.6.5.32 SA_ReadByteParameter Get Byte type data
6.6.5.33 SA_ReadDintParameter Get double integer type data
6.6.5.34 SA_ReadDwordParameter Get double word type data
6.6.5.35 SA_ReadIntParameter Get integer type data
6.6.5.36 SA_ReadUsintParameter Get unsigned integer type data
6.6.5.37 SA_WriteByteParameter Set byte type data
6.6.5.38 SA_WriteDintParameter Set double integer type data
6.6.5.39 SA_WriteDwordParameter Set double word type data
6.6.5.40 SA_WriteIntParameter Set integer type data
6.6.5.41 SA_WriteUsintParameter Set unsigned integer type data
Table 6-3: available motion function blocks
144
6.6.5.1 GA_GroupDisable

AxesGroup AXIS_GROUP_REF
Execute BOOL 6.6.5

Done BOOL Standstill Disabled
Busy BOOL FB
Error BOOL FB
ErrorID INT 6.6.8 .
145
6.6.5.2 GA_GroupEnable

Execute BOOL 6.6.5

Busy BOOL FB
Error BOOL FB
ErrorID INT 6.6.8 .
146
6.6.5.3 GA_GroupReset
StandStill

Execute BOOL 6.6.5

Busy BOOL FB
Error BOOL FB
ErrorID INT 6.6.8 .
147
6.6.5.4 GA_GroupStop

Execute BOOL 6.6.5
StopMode BOOL 0 1

Busy BOOL FB
Active BOOL FB
CommandAborted BOOL
Error BOOL FB
ErrorID INT 6.6.8 .
148
6.6.5.5 GA_MoveCircularAbsolute
T S

Execute BOOL 6.6.5
AxisX AXIS_REF X
AxisY AXIS_REF Y
Cx DINT (-134217728 ~ +134217728) X
Cy DINT (-134217728 ~ +134217728) Y
Ex DINT (-134217728 ~ +134217728) X
Ey DINT (-134217728 ~ +134217728) Y
StartVelocity DWORD
MaxVelocity DWORD
TAcc REAL
TDec REAL
Curve BYTE 0T-curve1S-curve
Direction USINT 0 1
149

Busy BOOL FB
Active BOOL FB
CommandAborted BOOL
Error BOOL FB
ErrorID INT 6.6.8 .
150
6.6.5.6 GA_MoveCircularRelative
T S

Execute BOOL 6.6.5
AxisX AXIS_REF X
AxisY AXIS_REF Y
OffsetCx DINT (-134217728 ~ +134217728) X
OffsetCy DINT (-134217728 ~ +134217728) Y
OffsetEx DINT (-134217728 ~ +134217728) X
OffsetEy DINT (-134217728 ~ +134217728) Y
StartVelocity DWORD
MaxVelocity DWORD
TAcc REAL
TDec REAL
Direction USINT 0 1
151

Busy BOOL FB
Active BOOL FB
CommandAborted BOOL
Error BOOL FB
ErrorID INT 6.6.8 .
152
6.6.5.7 GA_MoveLinearAbsolute
T S

Execute BOOL 6.6.5
DISTARRAY
PosArray
(-134217728 ~ +134217728)
StartVelocity DWORD
MaxVelocity DWORD
TAcc REAL
TDec REAL

Busy BOOL FB
Active BOOL FB
CommandAborted BOOL
Error BOOL FB
ErrorID INT 6.6.8 .
153
6.6.5.8 GA_MoveLinearRelative
T S

Execute BOOL 6.6.5
DISTARRAY
DisArray
(-134217728 ~ +134217728)
StartVelocity DWORD
MaxVelocity DWORD
TAcc REAL
TDec REAL

Busy BOOL FB
Active BOOL FB
CommandAborted BOOL
Error BOOL FB
ErrorID INT 6.6.8 .
154
6.6.5.9 GA_MovePath

Execute BOOL 6.6.5
RepeatCount UINT

Busy BOOL FB
Error BOOL FB
ErrorID INT 6.6.8 .
155
6.6.5.10 GA_PathSelect
(xxxx.kwpts)

Execute BOOL 6.6.5
MyLink
PathFile STRING

SegmentCount UINT
Busy BOOL FB
Error BOOL FB
ErrorID INT 6.6.8 .
156
6.6.5.11 MC_Home

Axis AXIS_REF
Execute BOOL 6.6.5
StartVelocity DWORD
MaxVelocity DWORD
TAcc REAL
TDec REAL
Direction USINT 0 1

Axis AXIS_REF
Busy BOOL FB
Active BOOL FB
CommandAborted BOOL
Error BOOL FB
ErrorID INT 6.6.8 .
157
6.6.5.12 MC_MoveAbsolute
T S

Axis AXIS_REF
Execute BOOL 6.6.5
Position DINT (-134217728 ~ +134217728)
StartVelocity DWORD
MaxVelocity DWORD
TAcc REAL
TDec REAL

Axis AXIS_REF
Busy BOOL FB
Active BOOL FB
CommandAborted BOOL
Error BOOL FB
ErrorID INT 6.6.8 .
158
6.6.5.13 MC_MoveRelative
T S

Axis AXIS_REF
Execute BOOL 6.6.5
Distance DINT (-134217728 ~ +134217728)
StartVelocity DWORD
MaxVelocity DWORD
TAcc REAL
TDec REAL

Axis AXIS_REF
Busy BOOL FB
Active BOOL FB
CommandAborted BOOL
Error BOOL FB
ErrorID INT 6.6.8 .
159
6.6.5.14 MC_MoveVelocity
T S

Axis AXIS_REF
Execute BOOL 6.6.5
StartVelocity DWORD
MaxVelocity DWORD
TAcc REAL
TDec REAL
Direction USINT 0 1

Axis AXIS_REF
InVelocity BOOL
Busy BOOL FB
Active BOOL FB
CommandAborted BOOL
Error BOOL FB
ErrorID INT 6.6.8 .
160
6.6.5.15 MC_Power
, IP1~IP32AXIS_01~AXIS_32

Axis AXIS_REF
Execute BOOL 6.6.5

Axis AXIS_REF
Status BOOL
Busy BOOL FB
Active BOOL FB
Error BOOL FB
ErrorID INT 6.6.8 .
161
6.6.5.16 MC_ReadActualPosition

Axis AXIS_REF
Enable BOOL Enable/disable

Axis AXIS_REF
Valid BOOL FB
Error BOOL FB
ErrorID INT 6.6.8 .
LogicPosition DINT /
EncoderPosition DINT /
162
6.6.5.17 MC_ReadAcutalVelocity

Axis AXIS_REF

Axis AXIS_REF
Valid BOOL FB
Error BOOL FB
ErrorID INT 6.6.8 .
Velocity DWORD
163
6.6.5.18 MC_ReadAxisInfo

Axis AXIS_REF

Axis AXIS_REF
Valid BOOL FB
Error BOOL FB
ErrorID INT 6.6.8 .
GroupNo USINT
TRUE
IsGrouped BOOL
FALSE
TRUE
SWLimitPos BOOL
FALSE
TRUE
SWLimitNeg BOOL
FALSE
164
6.6.5.19 MC_ReadBoolParameter
BOOL

Axis AXIS_REF
ParameterNumber INT section 6.6.7

Axis AXIS_REF
Valid BOOL FB
Error BOOL FB
ErrorID INT 6.6.8 .
Value BOOL
165
6.6.5.20 MC_ReadParameter
UDINT

Axis AXIS_REF

Axis AXIS_REF
Valid BOOL FB
Error BOOL FB
ErrorID INT 6.6.8
Value UDINT
166
6.6.5.21 MC_ReadStatus

Axis AXIS_REF

Axis AXIS_REF
Valid BOOL FB
Error BOOL FB
ErrorID INT 6.6.8
Disabled BOOL
Errorstop BOOL
Stopping BOOL
StandStill BOOL
DiscreteMotion BOOL
167

ContinuousMotion BOOL
SynchronizedMotion BOOL
Homing BOOL
ConstantVelocity BOOL
Accelerating BOOL
Decelerating BOOL
168
6.6.5.22 MC_Reset
StandStill

Axis AXIS_REF
Execute BOOL 6.6.5

Axis AXIS_REF
Error BOOL FB
ErrorID INT 6.6.8
169
6.6.5.23 MC_Stop

Axis AXIS_REF
Execute BOOL 6.6.5
StopMode BOOL 0 1

Axis AXIS_REF
Busy BOOL FB
Active BOOL FB
CommandAborted BOOL
Error BOOL FB
ErrorID INT 6.6.8 .
170
6.6.5.24 MC_WriteBoolParameter
BOOL

Axis AXIS_REF
Execute BOOL 6.6.5
Value BOOL

Axis AXIS_REF
Done BOOL
Error BOOL FB
ErrorID INT 6.6.8 .
171
6.6.5.25 MC_WriteEncoderPosition

Axis AXIS_REF
Execute BOOL 6.6.5
DINT
EncoderPosition
(-134217728 ~ +134217728)

Axis AXIS_REF
Done BOOL
Busy BOOL FB
Error BOOL FB
ErrorID INT 6.6.8 .
172
6.6.5.26 MC_WriteLogicPosition

Axis AXIS_REF
Execute BOOL 6.6.5
DINT
EncoderPosition
(-134217728 ~ +134217728)

Axis AXIS_REF
Done BOOL
Busy BOOL FB
Error BOOL FB
ErrorID INT 6.6.8 .
173
6.6.5.27 MC_WriteParameter
UDINT

Axis AXIS_REF
Execute BOOL 6.6.5
Value UDINT

Axis AXIS_REF
Done BOOL
Error BOOL FB
ErrorID INT 6.6.8 .
174
6.6.5.28 SA_CheckSystemConfig

Execute BOOL 6.6.5

IsMatched BOOL TRUE, MyLink
Done BOOL
Busy BOOL FB
Error BOOL FB
ErrorID INT 6.6.8 .
175
6.6.5.29 SA_ErrorJog
FB

Axis AXIS_REF
Execute BOOL 6.6.5
DINT
Distance
(-134217728 ~ +134217728)
MaxVelocity DWORD

Axis AXIS_REF
Done BOOL
Busy BOOL FB
Error BOOL FB
ErrorID INT 6.6.8 .
176
6.6.5.30 SA_GetSensor

Axis AXIS_REF

Axis AXIS_REF
Valid BOOL FB
Error BOOL FB
ErrorID INT 6.6.8 .
Ready BOOL
177

Alarm BOOL
MC_Reset

PositiveLimit BOOL SA_ErrorJog MC_Reset

NegativeLimit BOOL SA_ErrorJog MC_Reset

Origin BOOL

Direction BOOL

Emergency
Emergency BOOL
MC_Reset
HIGH
ERC BOOL
LOW
ZPhase BOOL ZPhase
ClearCounter BOOL ClearCounter
Latch BOOL Latch
SlowDown BOOL SlowDone
InPosition BOOL InPosition
ServoON BOOL ServoON
HIGH
AlarmReset BOOL
LOW
178
6.6.5.31 SA_LoadConfigFile
axis.kwcfg EEPROM

Axis AXIS_REF
Execute BOOL 6.6.5

Axis AXIS_REF
Status BOOL
Busy BOOL FB
Active BOOL FB
Error BOOL FB
ErrorID INT 6.6.8 .
179
6.6.5.32 SA_ReadByteParameter
BYTE

Axis AXIS_REF

Axis AXIS_REF
Valid BOOL FB
Error BOOL FB
ErrorID INT 6.6.8 .
Value BYTE
180
6.6.5.33 SA_ReadDintParameter
DINT

Axis AXIS_REF

Axis AXIS_REF
Valid BOOL FB
Error BOOL FB
ErrorID INT 6.6.8 .
Value DINT
181
6.6.5.34 SA_ReadDwordParameter
DWORD

Axis AXIS_REF

Axis AXIS_REF
Valid BOOL FB
Error BOOL FB
ErrorID INT 6.6.8 .
Value DWORD
182
6.6.5.35 SA_ReadIntParameter
INT

Axis AXIS_REF

Axis AXIS_REF
Valid BOOL FB
Error BOOL FB
ErrorID INT 6.6.8 .
Value INT
183
6.6.5.36 SA_ReadUsintParameter
USINT

Axis AXIS_REF

Axis AXIS_REF
Valid BOOL FB
Error BOOL FB
ErrorID INT 6.6.8 .
Value USINT
184
6.6.5.37 SA_WriteByteParameter
BYTE

Axis AXIS_REF
Execute BOOL 6.6.5
Value BYTE

Axis AXIS_REF
Done BOOL
Error BOOL FB
ErrorID INT 6.6.8 .
185
6.6.5.38 SA_WriteDintParameter
DINT

Axis AXIS_REF
Execute BOOL 6.6.5
Value DINT

Axis AXIS_REF
Done BOOL
Error BOOL FB
ErrorID INT 6.6.8 .
186
6.6.5.39 SA_WriteDwordParameter
DWORD

Axis AXIS_REF
Execute BOOL 6.6.5
Value DWORD

Axis AXIS_REF
Done BOOL
Error BOOL FB
ErrorID INT 6.6.8 .
187
6.6.5.40 SA_WriteIntParameter
INT

Axis AXIS_REF
Execute BOOL 6.6.5
Value INT

Axis AXIS_REF
Done BOOL
Error BOOL FB
ErrorID INT 6.6.8 .
188
6.6.5.41 SA_WriteUsintParameter
USINT

Axis AXIS_REF
Execute BOOL 6.6.5
Value USINT

Axis AXIS_REF
Done BOOL
Error BOOL FB
ErrorID INT 6.6.8 .
189
6.6.6. EasyPAC Function Block List
6.6.6.1 EP_SetCyclicTime
Motionnet Ring_0 Ring_1 , Task PLC Cyclic

Execute BOOL 6.6.5
Ring_0
BaudRate0 USINT
02.5Mbps, 15Mbps, 210Mbps, 320Mbps
Ring_1
BaudRate1 USINT
02.5Mbps, 15Mbps, 210Mbps, 320Mbps
DioCount USINT DI/O 0 ~ 48
AioCount USINT AI/O 0 ~ 16
AxisCount USINT 0 ~ 32

Done BOOL
Error BOOL FB
ErrorID INT 6.6.8 .
CycleTime USINT Task Cyclic ms
190
6.6.6.2 EP_GetVersion

Execute BOOL 6.6.5

Done BOOL
Error BOOL FB
ErrorID INT 6.6.8 .
KernelVersion INT
UserLibVersion INT
191
6.6.6.3 EP_CheckAesKey
EP_SetAesKey AesKey (0000000000000000~9999999999999999)

Execute BOOL 6.6.5
Key1 ~ Key16 INT SI Key 0 9

Valid BOOL FB
Error BOOL FB
ErrorID INT 6.6.8 .
192
6.6.6.4 EP_SetAesKey
SI AesKey
(0x0000000000000000~0xFFFFFFFFFFFFFFFF)

Execute BOOL 6.6.5
AesKey Key 0x0000
Key1 ~ Key8 WORD
0xFF

Done BOOL
Error BOOL FB
ErrorID INT 6.6.8 .
193
6.6.7. Axis Parameter List

The following tables contain the axis parameters which can be read or written. This is a comprehensive list
that contains parameters that may not be applicable for all types of axes. For each parameter the following
information is available:
PN Name Data type R/W Comments
1 CommandedPosition DINT R
2 SWLimitPos DINT R/W
3 SWLimitNeg DINT R/W
4 SWLimitEnable BOOL R/W
8 RALM BOOL R/W
9 MaxVelocityAppl DWORD R/W
10 ActualVelocity DWORD R
11 CommandedVelocity DWORD R
Alarm, PositiveLimit,
NegativeLimitErrorStop
51 ErrorStopMode USINT R/W
0
1
Default FALSE
52 FixSpeedRange BOOL R/W
Fix Speed Range by MaxVelocityAppl(Pn9)
Table 6-4: axis parameter list
PNParameter Number FB 'ParameterNumber'

Name
Datatype
R/W
Comments
194
6.6.8. Function Block ErrorID List

Error Handle Number Description
0
5
6
7
9
11
12 FB
14 Parameter Number
15 Data type
17
18 FB
19
21
26 API
27
28 Group Enabled
29 Path
30 2
31
32
33
34 Ring
Table 6-5: function block error id list
195
6.7.
C:\TPM\EasyPAC\sample
1. AIO
2. Counter
3. Single Axis
4. Grouped Axes
5. HMI_DIO
6.7.1. AI/O
106-A104-01 106-A180-01 106-A104-01 106-A180-01
106-A104-01 IP 61
106-A180-01 IP 62
106-A104-01 AOUT0 106-A180-01 AIN0+
106-A104-01 AGND 106-A180-01 AIN0- AGND
106-A180-01 AIN4+ / AIN4- / AGND
Figure 6-74: wiring for this example
106-A104-01 AOUT0 AGND AGND AOUT1 AGND AGND AOUT2 AGND AGND AOUT3 AGND AGND
106-A180-01 AIN0+ AIN0- AGND AIN1+ AIN1- AGND AIN2+ AIN2- AGND AIN3+ AIN3- AGND
106-A104-01
106-A180-01 AIN4+ AIN4- AGND AIN5+ AIN5- AGND AIN6+ AIN6- AGND AIN7+ AIN7- AGND
Table 6-6: the wiring table
MyLinkAIGain
EasyPAC MyLink MyLink
1. 106-A180-01
196
Figure 6-75: parameters setting of an AI module
2. 106-A104-01 106-A180-01
Figure 6-76: display of 106-A104-01 and 106-A180-01
MP
MULTIPROG
Figure 6-77: start MULTIPROG
Click on FileNew Project
TPM Template
197
Figure 6-79: new project template
Untitled
Figure 6-80: click on the Untitled*
I/O
MyDataCheck 106-A104-01 106-A180-01 I/O
1. MyDataCheck A106-A180-01
198
Figure 6-81: configure I/O address of 106-A180-01
2. MyDataCheck 106-A104-01
Figure 6-82: configure I/O address of 106-A104-01
3. 106-A180-01 AI_Channel_0
Figure 6-83: add a variable of 106-A180-01
199
4. AI_Channel_1
5. AI_Channel_2
6. 106-A180-01 AI_Channel_3AI_Channel_4AI_Channel_5AI_Channel_6
AI_Channel_7 AO_Channel_0AO_Channel_1AO_Channel_2
AO_Channel_3
200
Figure 6-86: download and monitor the program
201
6.7.2. Counter
108-P120 Encoder
108-P120 IP 63
Figure 6-87: wiring of a counter module
108-P120 Encoder
24V 24V
GND GND
IN0+ connected to 24V
IN0- A-phase (NPN Open Collector)
IN1+ connected to 24V
IN1- B-phase (NPN Open Collector)
Table 6-7: counter module wiring table
MyLinkCounter
EasyPAC MyLink MyLink 108-P120
108-P120
1. 108-P120
202
Figure 6-88: configuration of 108-P120
2. 108-P120
Start
Figure 6-89: screenshot of MyLink testing counter module
MP
MULTIPROG
203
FileNew Project
TPM Template
Untitled
I/O
MyDataCheck P120 I/O
1. MyDataCheck
204
Figure 6-94: set IP of the counter module
2. Channel_0
Figure 6-95: add a new variable of 108-P120
3. Channel_1, Channel_2 and Channel_3
108-P120
205
206
6.7.3. Single Axis

(Axis.mwe)
Figure 6-97: hardware configuration
MyLink
1. Device Tree
Figure 6-98: modules shown in MyLink
2. Interface I/O & Pulse I/O
207
Figure 6-99: configure and test the axis module
3. EEPROM

TPM Template Function Blocks
Function Blocks
Function Block User Library Description
EP_SetCyclicTime EASYPAC_UL CyclicTime
MC_Power MNet_SA_UL
SA_WriteDwordParameter MNet_SA_UL
MC_ReadStatus MNet_SA_UL
MC_ReadActualPosition MNet_SA_UL
MC_MoveRelative MNet_SA_UL
MC_Stop MNet_SA_UL
Table 6-8: function blocks to be added
208
Table 6-9: detailed settings of the parameters
Figure 6-100: activate debug mode by this button
1. Overwrite Exec TRUE
Figure 6-101: override Exec to true
EP_SetCyclicTime_1 CyclicTime 2ms
2. Overwrite Init TRUE

MC_Power_1 SA_WriteDwordParameter_1
5000000 pps InitFlag TRUE
209
Figure 6-102: function block with debug mode activated
MC_ReadStatus_1 & MC_ReadActualPosition_1 InitFlag FB

Monitor StandStill
Figure 6-103: StandStill status is true of the Axis
3. Overwrite Run TRUE

MC_MoveRelative_1 10000pps 100000pulses
MC_ReadStatus_1 & MC_ReadActualPosition_1
210
Figure 6-104: axis status with Run signal turned on
4. Overwrite Stop TRUE

5. MC_Stop_1
6. MC_ReadStatus_1 & MC_ReadActualPosition_1
Figure 6-105: axis status with Stop signal turned on
211
6.7.4. Grouped Axes

(AxesGroup.mwe)
MyLink
1. Device Tree
2. Interface I/O & Pulse I/O
3. Ring_1 Group2
Figure 6-106: group up axes
4. Group
Figure 6-107: select group axes
212
Figure 6-108: setting of group parameters
5. EEPROM
6. rect1.kwpts EasyPAC
Figure 6-109: import the path file
1. TPM Template
2. Function Blocks
Function Blocks
Function Block User Library Description
GA_GroupEnable MNet_SA_UL
GA_MoveLinearRelative MNet_SA_UL T S
GA_PathSelect MNet_SA_UL (xxxx.kwpts)
GA_MovePath MNet_SA_UL
Table 6-10: grouped axes function blocks to be added
Download Debug on/off Debug Mode
213
Figure 6-110: activate debug mode by this button
1. Overwrite Exec TRUE
Figure 6-111: overwrite Exec to TRUE
2. Overwrite InitX TRUE
Figure 6-112: overwrite InitX to TRUE
3. Overwrite InitY TRUE
214
Figure 6-113: overwrite InitY to TRUE
4.
Figure 6-114: function blocks monitoring group axes
5. Overwrite Group TRUE

GA_GroupEnable_1 Group2
215
Figure 6-115: enable the group
6. Overwrite Line2 TRUE

GA_MoveLinearRelative_1 10000ppsX 100000pulsesY
120000pulses
Figure 6-116: linear motion of a group
7. Overwrite MovePath TRUE

GA_PathSelect_1 rect1.kwpts GA_MovePath_1
216
Figure 6-117: linear motion of a group
217
6.7.5. HMI_DIO
106-D422-NN DI DO
00 2010 30 IP 0
Figure 6-118: wiring of the module
Figure 6-119: terminal definition
DI DO DI DO
00 20 10 30
01 21 11 31
02 22 12 32
03 23 13 33
04 24 14 34
05 25 15 35
06 26 16 36
07 27 17 37
Table 6-11: the wiring table
MyLink
EasyPAC MyLink MyLink
218
Figure 6-120: testing using MyLink
MyConfig
EasyPAC MyConfig MyConfig Modbus
TCP Slave ID1TCP Parameters Port502TimeOut3000
Figure 6-121: parameters setting using MyLink
6.7.5.1 HMI
HMI
Cermate HMI Modbus TCP EasyPAC
219
Figure 6-123: input communication parameters next
Figure 6-124: input parameters
220
LED Modbus
MyDataCheck 106-D422-NN I/O
1. MyDataCheck
Figure 6-125: configure parameters using MyDataCheck
2. LED
Figure 6-126: add a new led
3. LED
221
Figure 6-127: duplicate multiple LEDs
Figure 6-128: multiple LEDs created by MyDataCheck
ButtonModbus
MyDataCheck D422 I/O
1. Button
222
Figure 6-129: making of a button
2. Button
Figure 6-130: duplicate buttons

223
Figure 6-131: multiple buttons created
Figure 6-132: downloaded program
224
6.7.5.2 MULTIPROG
MP
MULTIPROG
FileNew Project
TPM Template
Untitled
I/O
MyDataCheck 106-D422-NN I/O
225
1. MyDataCheck
Figure 6-137: add parameters
IN_Port_0 (Byte), IN_Bit_0 (Bool), IN_Bit_1 (Bool), IN_Bit_2 (Bool),

IN_Bit_3 (Bool), IN_Bit_4 (Bool), IN_Bit_5 (Bool), IN_Bit_6 (Bool), IN_Bit_7 (Bool), Out_Port_0 (Byte),
Out_Bit_0 (Bool), Out_Bit_1 (Bool), Out_Bit_2 (Bool), Out_Bit_3 (Bool), Out_Bit_4 (Bool), Out_Bit_5
(Bool), Out_Bit_6 (Bool) and Out_Bit_7 (Bool)
Figure 6-138: insert new parameters
226
Figure 6-140: the HMI diagram
227

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Easypac Epc 1000 使用手冊 Tc 8100epc10140

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TPM EasyPAC User Manual

TPM http://www.tpm-pac.com TPM

MS-DOS Windows 95/98/NT/2000/XP, Visual Studio, Visual C++, Visual BASIC

4.1. MOTIONNET .................................................................................................................................................................... 26

5.1. MYCONFIG ............................................................................................................................................................................... 29

5.1.1. EasyPAC ................................................................................................................................................ 29

6.1. MPEXPRESS5.35 INSTALLATION .................................................................................................................................................... 94

6.6.5. ........................................................................................................................................... 143

EasyPAC Microsoft WinCE5.0 KW SoftPLC

EasyPAC offers complete software and tools:

Figure 1-1: EasyPAC offers complete software and tools

EasyPAC Motionnet Ring_0 Ring_1

Figure 1-2: EasyPAC and supported slave modules

TPM EasyPAC Specifications

EasyPAC MyConfig MyLink PC

EasyPAC Motionnet Ring_0 Ring_1Ring_0 Ring_1

108-P120 4-ch, 32 bites up-down counter Yes No

Kingservo King servo motor & driver No Yes coming soon

Table 1-2: Motionnet compatible devices

Figure 1-3: EasyPAC system architecture

Universal AC input / Full range

Cooling by free air convection

Table 1-3: hardware specification

Figure 2-1: outline and dimension

Figure 2-2: Connections of EasyPAC

Table 2-1: EasyPAC connectors and switches

2.2.1. COM Port: COM & CN1

Figure 2-3: COM port pin assignment

Figure 2-4: CN1 pin assignment

2.2.2. GPIO: CN2

Figure 2-5: pin assignment of CN2

Figure 2-6: signal circuit of input NPN

Figure 2-7: signal circuit of input PNP

Figure 2-8: signal circuit of output NPN

2.2.3. Ring_0: CN3

Pin Pin Mark Pin Description

Table 2-2: pin assignment of CN3

2.2.4. Ring_1: CN4

Pin Pin Mark Pin Description

Table 2-3: pin assignment of CN4

2.2.5. 24V DC Input

Pin Pin Mark Pin Description

Table 2-4: main power connector pin assignment

2.2.6. USB Connector

USB signal pin pin USB signal

Table 2-5: USB connector pin assignment

2.2.7. LAN Connector

Table 2-6: LAN connector pin assignment

2.3. Rotary Switch

EasyPAC Run Mode

2.3.1. System Mode : SW1

SW1 EasyPAC Run ModeSW1 Run Mode

Table 2-7: SW1 assignment

2.3.2. Motionnet Baud-Rate: SW2

Table 2-8: SW2 assignment

Extension Analog I /O Digital I /O Motion

Figure 4-1: wire-saving and long-distance support

CYCLE TIME 64 Slaves < 1.04ms

On 20Mbps , Max. Cycle Time = 15.1 x NODE + 71.4 [FIFO Time] in us

Figure 4-2: high-speed and time deterministic support

4.3. Motionnet Product Family

Figure 4-3: EasyPAC and Motionnet product family

MyConfig.exe EasyPAC IP MyConfig

Figure 5-1: MyConfig login page