Kuhnke KUAX 680I Instruction Manual
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Kuhnke KUAX 680I Instruction Manual

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Kuhnke Electronics
Instruction Manual
Modules of Controllers
KUAX 680I, KUAX 680C, KDT 680CT
E 326 GB
7 May 1997 / 39.785

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  • Page 1 Kuhnke Electronics Instruction Manual Modules of Controllers KUAX 680I, KUAX 680C, KDT 680CT E 326 GB 7 May 1997 / 39.785...
  • Page 2 This manual is primarily intended for use by design, project, and development engineers. It does not give any information about delivery possibilities. Data is only given to describe the product and must not be regarded as guaranteed properties in the legal sense. Any claims for damages against us - on whatever legal grounds - are excluded except in instances of deliberate intent or gross negligence on our part.

  • Page 3: Table Of Contents

    3.3.1. Function slots ............... 3-4 3.4. Service modules ..............3-5 3.4.1. Transfer address ranges ............3-5 3.4.2. Interrupt modules ..............3-5 3.5. Power supply of inputs and outputs ..........3-6 3.6. Differences between KUAX 680C/KDT 680CT and KUAX 680I ..3-7 Contents - 1...
  • Page 4 Table of contents 4. Digital inputs and outputs ..........4-1 4.1. Plugging digital input and output modules ........4-2 4.1.1. Addressing (input/output groups and channels) ......4-2 4.1.2. Reserved slots ..............4-3 4.2. Digital input modules ............... 4-4 4.2.1. Input module, 24 V DC, 8 inputs ..........4-5 4.2.1.1.
  • Page 5 Table of contents 5.2.2.1. Slots ................. 5-8 5.2.2.2. Connections ..............5-9 5.2.2.3. Representation of the analogue value ........5-9 5.2.2.4. Transfer address ranges ........... 5-10 5.2.2.5. Technical specifications ............ 5-11 5.2.3. Analogue input module, PT100, 0...300 °C, 10 bit, ....5-12 5.2.3.1.
  • Page 6 Table of contents 5.4.2. Analogue I/O module, 2 I 0...20 mA, 2 O 0...±10V ..... 5-40 5.4.2.1. Slots ................5-40 5.4.2.2. Connectors ..............5-41 5.4.2.3. Representation of the analogue value ......... 5-42 5.4.2.4. Transfer address ranges of the analogue inputs ....5-43 5.4.2.5.
  • Page 7 Table of contents 6.2.3. Technical specifications ............6-15 6.2.4. Programming ..............6-16 6.2.4.1. Transfer address ranges ........... 6-16 6.2.4.2. Setting the counter to the preset value / to 0 ....... 6-18 6.2.4.3. Switching the counter on / off ........... 6-18 6.2.4.4.
  • Page 8 Table of contents 8. Stepper motor modules without processor ..... 8-1 8.1. Plugging stepper motor modules ..........8-2 8.2. Service modules ..............8-3 8.2.1. Transfer address ranges ............8-3 8.2.2. Assignment of transfer addresses ..........8-4 8.3. Software ................. 8-5 8.3.1.
  • Page 9 Table of contents 9.3.2.8. Timing diagrams of run jobs ..........9-9 9.3.2.9. Control functions SLx01.07 (CONTROL) ......9-10 9.3.2.10. Error messages .............. 9-12 9.4. Stepper motor module, 2 channels ........... 9-13 9.4.1. Connection of the signal lines ..........9-13 9.5.2. Technical specifications ............9-14 9.5.
  • Page 10 Table of contents Contents - 8...

  • Page 11: Introduction

    Introduction 1. Introduction KUAX 680I, KUAX 680C and KDT 680 CT are efficient, modularly constructed minicontrollers. They are equipped with modules which communicate with the user program in the con- troller either directly or via transfer addresses (SLx...). KUAX 680C and KDT 680CT also have built-in inputs and outputs which are not, however, described in this instruction manual.

  • Page 12: Manual Breakdown

    Stepper motor modules with processor - Appendix A Power supply and load characteristics of the controllers - Appendix B Module ordering information (summary) - Appendix C References to general literature and to Kuhnke instruction manuals - Index 1 - 2...

  • Page 13: Further Modules

    This manual only describes the modules. Please refer to the rel- evant instruction manuals to find out more about the actual controllers: Controller Instruction manual KUAX 680I E 380 GB KUAX 680C E 399 GB KDT 680CT E 414 GB 1.2.
  • Page 14 Introduction 1 - 4...

  • Page 15: Safety And Reliability

    2.2. Reliability Reliability of Kuhnke controllers is brought to the highest pos- sible standards by extensive and cost-effective means in their design and manufacture. These include:...

  • Page 16: Notes

    Safety and Reliability 2.3. Notes Please pay particular attention to the additional notes which we have marked by symbols in this instruction manual: 2.3.1. Danger This symbol warns you of dangers which may cause death, (grievous) bodily harm or material damage if the described precautions are not taken.

  • Page 17: Safety

    Safety and Reliability 2.4. Safety Our product normally becomes part of larger systems or install- ations. The following notes are intended to help integrating the product into its environment without dangers for man or mate- rial/equipment. 2.4.1. To be observed during project planning and installation - 24V DC power supply: Generate as electrically safely separated low voltage.

  • Page 18: To Be Observed During Maintenance And Servicing

    8 (Admissible deviations during working on parts) in particu- lar, when measuring or checking a controller in a power-up condition. - Repairs must only be made by specially trained Kuhnke staff (usually in the main factory in Malente). Warranty expires in every other case.

  • Page 19: Electromagnetic Compatibility

    Safety and Reliability 2.5. Electromagnetic compatibility 2.5.1. Definition Electromagnetic compatibility is the ability of a device to func- tion satisfactorily in its electromagnetic environment without itself causing any electromagnetic interference that would be intolerable to other devices in this environment. Of all known phenomena of electromagnetic noise, only a cer- tain range occurs at the location of a given device.

  • Page 20: Interference Emission

    Safety and Reliability 2.5.3. Interference emission Interfering emission of electromagnetic fields, HF in accordance with EN 55011, limiting value class A, group 1 If the controller is designed for use in residential districts, then high-frequency emissions must comply with limiting value class B as described in EN 55011.

  • Page 21: Protection Against External Electrical Influences

    Safety and Reliability 2.5.5. Protection against external electrical influences Connect the control system to the protective earth conductor to eliminate electromagnetic interference. Ensure practical wiring and laying of cables. 2.5.6. Cable routing and wiring Separate laying of power supply circuits, never together with control current loops: DC voltage 60 V ...

  • Page 22: Location Of Installation

    Safety and Reliability 2.5.7. Location of installation Make sure that there are no impediments due to temperatures, dirt, impact, vibrations and electromagnetic interference. Temperature Consider heat sources such as general heating of rooms, sun- light, heat accumulation in assembly rooms or control cabinets. Dirt Use suitable casings to avoid possible negative influences due to humidity, corrosive gas, liquid or conducting dust.

  • Page 23: Modules And Slots

    3. Modules and slots KUAX 680I and 680C can be equipped with different types of modules. The number of modules depends on the size of the device: - Devices with 4 slots: 4 modules (slots 0...3) - Devices with 8 slots: 8 modules (slots 0...7) (KUAX 680I only) Modules are plugged into the top of the device.

  • Page 24: Design

    There is a screw sunk into the front side which is used to attach the module to the device frame. In KUAX 680C, KDT 680CT, and recent models of KUAX 680I (part numbers 680.423.xx) the modules are additionally sup- ported by plastic rests. Modules made before calendar week 27/95 do not fit into these devices because they have no bores to place the plastic rests in.

  • Page 25: Screw-Type Locking Connectors

    Supply 3.2. Screw-type locking connectors Screw-type locking connectors (supplied by Phoenix) are used to connect inputs and outputs to the device: Connector type MINI-COMBICON, 3.81 mm matrix, connect- ing diameter 0.14...1,5 mm² , max. load 8 A The green screw-type locking connectors sit very firmly in their position to avoid them becoming loose due to vibrations.

  • Page 26: Slots

    Modules 3.3. Slots KUAX 680I can be equipped with slots for either 4 or 8 mod- ules. KUAX 680C and KDT 680CT always have 4 slots (or none). 3.3.1. Function slots Individual slots carry additional leads. They make the applica-...

  • Page 27: Service Modules

    (e.g. C:\KUBESEXE). Configuration When configuring KUAX 680I or 680C, you enter the modules into a list in the same order in which they will be plugged in later. KUBES can use this information to embed the necessary service modules in the user program and to create the reference to the modules.

  • Page 28: Power Supply Of Inputs And Outputs

    Modules Assignment of transfer addresses and interrupt modules Slot Transfer address range Interrupt module SLA00.00...01.15 SLB00.00...01.15 SLC00.00...01.15 SLD00.00...01.15 SLE00.00...01.15 SLF00.00...01.15 SLG00.00...01.15 SLH00.00...01.15 SLI00.00...01.15 SLJ00.00...01.15 SLK00.00...01.15 SLL00.00...01.15 SLM00.00...01.15 SLN00.00...01.15 SLO00.00...01.15 SLP00.00...01.15 3.5. Power supply of inputs and outputs All inputs and outputs as well as the relay for polarity safe- guarding in the digital output modules are centrally supplied via the corresponding terminals of the basic device (see the rel- evant instruction manuals of the individual controllers).

  • Page 29: Differences Between Kuax 680C/Kdt 680Ct And Kuax 680I

    Addressing Please note that input and output groups are occupied already by the internal I/Os. While plugged-in modules are numbered in groups from left to right just like in KUAX 680I, they start with different group numbers: Modules first group...
  • Page 30 Modules 3 - 8...

  • Page 31: Digital Inputs And Outputs

    4. Digital inputs and outputs Digital inputs and outputs are used for leading digital signals (1 or 0, High or Low, On or Off etc.) from the machine or system into the controller (inputs) or vice versa (outputs). These include: Digital input signals from - switches - key-switches...

  • Page 32: Plugging Digital Input And Output Modules

    As from monitor version 4.10 (KUBES version 4.01), KUAX 680I can also be equipped with 16pin modules. KUAX 680C as from its first delivered machines. All earlier versions of KUAX 680I only allow application of 8pin modules. Digital input and output modules can be plugged into any slot as long as this slot is not needed for another module (see "3.3.1.

  • Page 33: Reserved Slots

    Addressing Groups Inputs: I00...max. I15 (on 16pin modules) Ouputs: O00...max. O07 In KUAX 680C, the first two input groups, I00 and I01, and the first two output groups, O00 and O01, are allocated already to the internal inputs and outputs. The modules for inputs and outputs thus start with numbers I02 and O02.

  • Page 34: Digital Input Modules

    Digital inputs and outputs 4.2. Digital input modules Digital input modules are used for reading the signal states of switches, key switches, relay contacts etc. When working with proximity switches and semi-conductor sensors please make sure to keep them running within the switching thresholds given below.

  • Page 35: Input Module, 24 V Dc, 8 Inputs

    Input module, 8 inputs 4.2.1. Input module, 24 V DC, 8 inputs Signal line connection Input voltage is 24 V DC. These signals are applied via plug- screw terminals on the signal strip underneath the module. *) read 'E' = 'I' (for Input) 4 - 5...

  • Page 36: Technical Specifications

    Digital inputs and outputs 4.2.1.1. Technical specifications Application: ..........KUAX 680I, 680C, 680S, KDT 680CT Admissible ambient conditions storage temperature ......-25...+70 °C ambient temp. during operation: ..0...55 °C relative humidity ........ 50...95 % Inputs: ............8 Type (acc. to IEC 1131) ......1 Potential separation .........

  • Page 37: Input Module, 24 V Dc, 8 Inputs, With Real-Time Clock

    Input module, 8 inputs, with real-time clock 4.2.2. Input module, 24 V DC, 8 inputs, with real-time clock These are the same inputs as described in chapter “4.2.1. Input module, 24 V DC, 8 inputs” (see there for picture and connec- tions).

  • Page 38: Parameters Of Kubes Module "Clock

    Digital inputs and outputs 4.2.2.2. Parameters of KUBES module “CLOCK” The user has to reserve two data fields for the clock parameters and one byte for status indication. It is helpful to enter these operands into the symbol table (KUBES) at the beginning of project planning.
  • Page 39 Input module, 8 inputs, with real-time clock Input parameter “Set” Data field, 7 byte: clock flag, slot, preset time and preset date: Byte Significance No Example Symbol clock flag (255: write values in bytes 3...7 into the clock) slot number of the module (0...7) preset value second: 0...59 preset value minute: 0...59 preset value hour: 0...23...

  • Page 40: Programming Suggestion For The Real-Time Clock

    Digital inputs and outputs 4.2.2.3. Programming suggestion for the real-time clock ;module slot (0...7) SBM01.06 CLOCK SBM00.00 SBM01.15 SBM01.05 SBM01.15 JP<> ERROR ;for error evaluation DISPLAY. ;display actual value Mxx.xx PPxx.xx PPxx.xx JPCN ENDCLK ;to end of clock program SBM01.05 PREVAL .

  • Page 41: Technical Specifications

    Input module, 8 inputs, with real-time clock 4.2.2.4. Technical specifications Application: ..........KUAX 680I, 680C, KDT 680CT Admissible ambient conditions storage temperature ......-25...+70 °C ambient temp. during operation: ..0...55 °C relative humidity ........ 50...95 % Inputs: ............8 Type (acc.

  • Page 42: Input Module, 24 V Dc, 16 Inputs

    Digital inputs and outputs 4.2.3. Input module, 24 V DC, 16 inputs Low group number: High group number: Status indic. (LEDs) Status indic. (LEDs) Terminals Terminals Signal line connection The input voltage is 24 V DC. These signals are applied via clamp-screw terminals.

  • Page 43: Technical Specifications

    Input module, 16 inputs 4.2.3. Technical specifications Application: ..........KUAX 680I (as from version 4.10), KUAX 680S (part no. 680.301.04/08) KUAX 680C, KDT 680CT Admissible ambient conditions storage temperature ......-25...+70 °C ambient temp. during operation: ..0...55 °C relative humidity ........ 50...95 % Inputs: ............

  • Page 44: Input Module, 24 V Dc, 8 Inputs, 1 Ms

    Digital inputs and outputs 4.2.4. Input module, 24 V DC, 8 inputs, 1 ms These are basically the same inputs as described earlier in chapter "4.2.1. Input module, 24 V DC, 8 inputs" (see there for diagram and connectors). The difference between the two modules is in the much re- duced signal delay time of the module described in this chap- ter.

  • Page 45: Technical Specifications

    Input module, 8 inputs, 1 ms 4.2.4.1. Technical specifications Application: ..........KUAX 680I, 680C, 680S, KDT 680CT Admissible ambient conditions storage temperature ......-25...+70 °C ambient temp. during operation: ..0...55 °C relative humidity ........ 50...95 % Inputs: ............8 Type (acc.

  • Page 46: Input Module, 24 V Dc, 16 Inputs, 1 Ms

    Digital inputs and outputs 4.2.5. Input module, 24 V DC, 16 inputs, 1 ms These are basically the same inputs as described earlier in chapter "4.2.3. Input module, 24 V DC, 16 inputs" (see there for diagram and connectors). The difference between the two modules is in the much re- duced signal delay time of the module described in this chap- ter.

  • Page 47: Technical Specifications

    Input module, 16 inputs, 1 ms 4.2.5.1. Technical specifications Application: ..........KUAX 680I (as from version 4.10), KUAX 680S (part no. 680.301.04/08) KUAX 680C, KDT 680CT Admissible ambient conditions storage temperature ......-25...+70 °C ambient temp. during operation: ..0...55 °C relative humidity ........

  • Page 48: Input Module, 24 V Dc, 16 Inputs, Interrupt Capability

    Digital inputs and outputs 4.2.6. Input module, 24 V DC, 16 inputs, interrupt capability These are basically the same inputs as described earlier in chapter "4.2.3. Input module, 24 V DC, 16 inputs" (see there for diagram and connectors). The difference between the two modules is in the extended functionality of the module described in this chapter concern- ing the registeration of fast input signals.
  • Page 49 Input module, 16 inputs, interrupt capability Inputs Ixx.04...07 (lower group, terminal underneath the module) The next 4 outputs have a short signal delay time of nominally 1ms. Raising delay*): = 0.3 ... 1.0ms Falling delay*): = 0.4 ... 1.4ms Inputs Ixx(+1).04...07 (higher group, terminal on the module) These 8 outputs have the normal signal delay time of nomi- nally 5 ms.

  • Page 50: Interrupt Inputs

    Digital inputs and outputs 4.2.6.2. Interrupt inputs Inputs Ixx.00...03 (lower group, terminal underneath the mod- ule) support interrupt functions and have a particularly short signal delay time of nominally 0.3 ms. For enabling and registering interrupts, each module is auto- matically assigned a transfer address range (see "3.4.
  • Page 51 Input module, 16 inputs, interrupt capability Functions of the transfer addresses: Address Symbol Function SLx00.00 input 00 interrupt SLx00.01 input 01 triggered by: positive edge SLx00.02 input 02 (Low->High) CPU writes 255 after interrupt triggered SLx00.03 input 03 via this channel; user program analyses SLx00.04 input 00 information in interrupt module...
  • Page 52 Digital inputs and outputs Interrupt frequency Every interrupt lengthens the cycle time. If an overall program cycle is longer than 70 ms, the monitor will trigger a watchdog and interrupt the program run. Thus the interrupt frequency must not exceed a maximum of 2.5 kHz for short periods of time (approx.

  • Page 53: Technical Specifications

    Input module, 16 inputs, interrupt capability 4.2.6.3. Technical specifications Application: ..........KUAX 680I (as from version 4.17), KUAX 680C, KDT 680CT Admissible ambient conditions storage temperature ......-25...+70 °C ambient temp. during operation: ..0...55 °C relative humidity ........ 50...95 % Inputs: ............

  • Page 54: Digital Output Module, 24 V Dc, 0.5 A, 8 Outputs

    Digital inputs and outputs 4.3. Digital output module, 24 V DC, 0.5 A, 8 outputs Function Output modules provide the connection to external actuators (relays, contactors, magnets, valves...). Resistive and inductive loads can be connected. Freewheeling diodes have been added to suppress inductive disable surges. The switching state of the outputs is indicated by LEDs.
  • Page 55 - the CPU outputs a short circuit message, - reports short circuit by flash pulse (1) on "failure" LED, - activates interrupt module no. 18, - see also instruction manual KUAX 680I, E 308 GB, Appen- dix D.1. in KUAX 680S: - the CPU disables all outputs, - reports a short circuit by flash pulse (1) on "status"...

  • Page 56: Technical Specifications

    - the backfed output will use the built-in free-wheeling diode for supply - and the load the current may destroy the free-wheeling diode. 4.3.1 Technical specifications Application: ..........KUAX 680I, 680C, 680S, KDT 680CT Admissible ambient conditions storage temperature ......-25...+70 °C ambient temp. during operation: ..0...55 °C relative humidity ........

  • Page 57: Digital Input/Output Module, 24 V Dc, 8/8

    Input/output module, 8/8 4.4. Digital input/output module, 24 V DC, 8/8 Outputs: Inputs: Status indic. (LEDs) Status indic. (LEDs) Terminals Terminals Function Inputs The inputs are the same as described in chapter "4.2.1. Input module, 24 V DC, 8 inputs". Outputs The outputs are the same as described in chapter "4.3.

  • Page 58: Technical Specifications

    Digital inputs and outputs 4.4.1. Technical specifications Application: ..........KUAX 680I (as from version 4.10), KUAX 680S (part no. 680.301.04/08) KUAX 680C, KDT 680CT Admissible ambient conditions storage temperature ......-25...+70 °C ambient temp. during operation: ..0...55 °C relative humidity ........ 50...95 % Inputs: ............

  • Page 59: Pneumatic Output Module, 4 Outputs 3/2 Way

    Pneumatic output module, 4 outputs, 3/2 way 4.5. Pneumatic output module, 4 outputs 3/2 way LED 0 LED 1 LED 2 LED 3 Circuit diagram Connector Function Address LED no. pneum. output Oxx.00 LED 0 pneum. output Oxx.01 LED 1 pneum.

  • Page 60: Technical Specifications

    Digital inputs and outputs 4.5.1. Technical specifications Application: ..........KUAX 680I, 680C, 680S, KDT 680CT Admissible ambient conditions storage temperature ......-25...+70 °C ambient temp. during operation: ..0...55 °C relative humidity ........ 50...95 % Outputs: ............ 4 type ............. pneumatic Indicators ..........

  • Page 61: Analogue Inputs And Outputs

    5. Analogue inputs and outputs Analogue inputs and outputs are used to lead analogue (i.e. per- manently changeable) signals from the machine or the system into the controller (inputs) or vice versa (outputs). These include: Analogue signals such as - temperature values - liquid levels - rotational speeds - etc.

  • Page 62: Plugging Analogue Input And Output Modules

    All other analogue modules can be plugged into any slot. 5.1.1. Addressing (anal. input/output groups and channels) Upon switching on KUAX 680I, inputs and outputs of all plugged-in modules are automatically numbered from left to right in groups of a maximum of 4 channels (.00..03) each.

  • Page 63: Reserved Slots

    Plugging analogue modules Groups Inputs: AI00...max. AI07 Outputs: AO00...max. AO07 In KUAX 680C and KDT 680CT, the first input group, AI00, and the first output group, AO00, are allocated to the internal inputs and outputs. The modules for inputs and outputs thus start with number AI01 and AO01 resp.
  • Page 64 Analogue inputs and outputs 5 - 4...

  • Page 65: Analogue Input Modules

    Analogue input modules 5.2. Analogue input modules Analogue inputs are used to lead analogue (i.e. permanently changeable) signals from the machine or the system into the controller. These can be temperature values, liquid levels, rota- tional speeds etc. 5.2.1. Analogue input module, 0...10 V, 10 bit, 4 channels 5.2.1.1.

  • Page 66: Connectors

    Analogue inputs and outputs 5.2.1.2. Connectors The connectors of the signal lines are located on the 8-pin plug-screw connector underneath the module (see diagram on previous page): Both leads, signal and Gnd , must definitely be connected for each channel (0...3). The Gnd -connections are not identical with the device-Gnd.

  • Page 67: Technical Specifications

    Analogue input modules 5.2.1.4. Technical specifications Application: ..........KUAX 680I, 680C, KDT 680CT Admissible ambient conditions storage temperature: ......-25...+70 °C ambient temp. during operation: ..0...55 °C relative humidity ........ 50...95 % Inputs (channels): ........4 Potential separation ......... no Addressing: ..........

  • Page 68: Analogue Input Module, 0(4)

    Analogue inputs and outputs 5.2.2. Analogue input module, 0(4)...20 mA, 10bit, 4 channels 5.2.2.1. Slots This module uses the analogue/digital converter of the proces- sor on the CPU. For this purpose, certain slots carry additional leads. The module can only be operated on these slots (see “3.3.

  • Page 69: Connections

    Analogue input modules 5.2.2.2. Connections The connections of the signal lines are on the 8-pin plug-screw connector underneath the module (see diagram on previous page): Shielding Shielded cables have to be used for connecting the analogue signals. The shielding is connected to the aluminium baseprofile of the controller by M3 screws (under certain cir- cumstances, the additional grounding of the other end of the cable may be commendable).

  • Page 70: Transfer Address Ranges

    Analogue inputs and outputs 5.2.2.4. Transfer address ranges Each module is assigned a transfer address range of 16 byte (see also "3.4. Service modules"). This range is used by the analogue input module for data exchange with the CPU. The address range depends on the slot: Slot Transfer address range SLE00.00...01.15...

  • Page 71: Technical Specifications

    Analogue input modules 5.2.2.5. Technical specifications Application: ..........KUAX 680I, 680C, KDT 680CT Admissible ambient conditions storage temperature: ......-25...+70 °C ambient temp. during operation: ..0...55 °C relative humidity ........ 50...95 % Inputs (channels): ........4 Potential separation ......... no Addressing: ..........

  • Page 72: Analogue Input Module, Pt100, 0

    Analogue inputs and outputs 5.2.3. Analogue input module, PT100, 0...300 °C, 10 bit, 4 channels, two-wire connection 5.2.3.1. Slots This module uses the analogue/digital converter of the proces- sor on the CPU. For this purpose, certain slots carry additional leads. The module can only be operated on these slots (see “3.3.

  • Page 73: Connectors

    Analogue input modules 5.2.3.2. Connectors The connectors of the signal lines are located on the 8-pin plug-screw connector underneath the module (see diagram on previous page): Unassigned inputs put an unnecessary load on the power sup- ply. Unused channels should therefore be terminated by 100 Ω or should be short-circuited.

  • Page 74: Transfer Address Ranges

    Analogue inputs and outputs 5.2.3.3. Transfer address ranges Each module is assigned a transfer address range of 16 byte (see also "3.4. Service modules"). This range is used by the analogue input module for data exchange with the CPU. The address range depends on the slot: Slot Transfer address range SLE00.00...01.15...

  • Page 75: Evaluation In The User Program

    ;set marker if so As analogue value in a 10bit resolution The resolution corresponds to the Kuhnke standard for ana- logue inputs. The temperature is represented in the 16 bit ana- logue input addresses (AI...). The addressing corresponds to the sequence of the plugged-in analogue input modules (see "5.1.

  • Page 76: Technical Specifications

    Analogue inputs and outputs 5.2.3.5. Technical specifications Application: ..........KUAX 680I, 680C, KDT 680CT Admissible ambient conditions storage temperature: ......-25...+70 °C ambient temp. during operation: ..0...55 °C relative humidity ........ 50...95 % Inputs (channels): ........4 Potential separation ......... no Addressing: temperature value: ......

  • Page 77: Analogue Input Module, Thermocouple Nicrni (Type K)

    Analogue input modules 5.2.4. Analogue input module, thermocouple NiCrNi (type K), 0...1200 °C, 10 bit, 4 channels This module serves registering temperature values by thermo- couples. The inputs are difference inputs which are linearised on the module. Wire failures are recognized and indicated on the module by 4 red LEDs.

  • Page 78: Connections

    Analogue inputs and outputs 5.2.4.2. Connections The connections of the signal lines are on the side of the mod- ule. These are coded plug-screw connectors which can only be plugged into this location. Signal (0) - Signal (0) + Signal (1) - Signal (1) + Signal (2) - K = remove coding element...

  • Page 79: Transfer Address Ranges

    Analogue input modules 5.2.4.3. Transfer address ranges Each module is assigned a transfer address range of 16 byte (see also "3.4. Service modules"). This range is used by the analogue input module for data exchange with the CPU. The address range depends on the slot: Slot Transfer address range SLE00.00...01.15...

  • Page 80: Evaluation In The User Program

    ;set marker if yes As analogue value in a 10bit resolution The resolution corresponds to the Kuhnke standard for ana- logue inputs. The temperature is represented in the 16 bit ana- logue input addresses (AI...). The addressing corresponds to the sequence of the plugged-in analogue input modules (see "5.1.

  • Page 81: Technical Specifications

    Analog input modules 5.2.4.5. Technical specifications Application: ..........KUAX 680I, 680C, KDT 680CT Admissible ambient conditions storage temperature: ......-25...+70 °C ambient temp. during operation: ..0...55 °C relative humidity ........ 50...95 % Inputs (channels): ........4 Potential separation ......... no Addressing: ..........

  • Page 82: Analogue Input Module, Potentiometer, 10Bit, 4 Channels

    Analogue inputs and outputs 5.2.5. Analogue input module, potentiometer, 10bit, 4 channels Analogue set point modules are input modules for the connec- tion of potentiometers which are used for presetting values for: temperatures, liquid levels, rotation speeds, times etc. 5.2.5.1. Slots This module uses the analogue/digital converter of the proces- sor on the CPU.

  • Page 83: Connectors

    Analogue input modules 5.2.5.2. Connectors The connections for the potis are on the 8-pin plug-screw con- nector underneath the module. The supply (10V) is generated in the power pack of the control (system voltage): Shielding Shielded cables have to be used for connecting the analogue signals.

  • Page 84: Representation Of The Analogue Value

    Analogue inputs and outputs 5.2.5.3. Representation of the analogue value The read analogue value is digitalised and then written into a 16bit address as a two’s complement representation. This ad- dress contains the value in bits 5...14. Bits 0...4 and 15 (sign bit) always have the status 0: Address bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Status 0 ------------ value read ----------- 0 0 0 0 0...

  • Page 85: Technical Specifications

    Analogue input modules 5.2.5.4. Technical specifications Application: ..........KUAX 680I, 680C, KDT 680CT Admissible ambient conditions storage temperature: ......-25...+70 °C ambient temp. during operation: ..0...55 °C relative humidity ........ 50...95 % Inputs (channels): ........4 potentiometer inputs Potential separation ......... no Addressing: ..........
  • Page 86 Analogue inputs and outputs 5 - 26...

  • Page 87: Analogue Output Modules

    Analogue output modules 5.3. Analogue output modules Analogue outputs are lead from the controller into the machine or system. They may include: temperature values, liquid levels, speed settings etc. 5.3.1. Analogue output module, 0...10 V, 8 bit, 4 channels 5.3.1.1. Slots This module has its own digital-to-analogue converter.

  • Page 88: Connectors

    Analogue inputs and outputs 5.3.1.2. Connectors The connectors of the signal lines are on the 8-pin plug-screw connector underneath the module (see diagram on previous page): Signal (0) Gnd (0) Signal (1) Gnd (1) Signal (2) K = remove coding element Gndl (2) Signal (3) Gnd (3)

  • Page 89: Technical Specifications

    5.5V ;input range 0...10.00V Example: AO00.00 5.3.1.4. Technical specifications Application: ..........KUAX 680I, 680C, KDT 680CT Admissible ambient conditions storage temperature: ......-25...+70 °C ambient temp. during operation: ..0...55 °C relative humidity ........ 50...95 % Outputs (channels): ........4, short-circuit prot., single-ended Short-circuit current .........
  • Page 90 Analogue inputs and outputs 5 - 30...

  • Page 91: Analogue Output Module, 0(4)

    Analogue output modules 5.3.2. Analogue output module, 0(4)...20 mA, 8bit, 4 channels 5.3.2.1. Slots This module has its own digital-to-analogue converter. It can therefore be plugged into any slot of the controller. 5 - 31...

  • Page 92: Connectors

    Analogue inputs and outputs 5.3.2.2. Connectors The connectors of the signal lines are on the 8-pin plug-screw connector underneath the module (see diagram on previous page): ← Signal (0) → Signal (0) ← Signal (1) → Signal (1) ← Signal (2) K = remove coding element →...

  • Page 93: Transfer Address Ranges

    Analogue output modules In the user program, the value is entered in a double-byte oper- ation. 10 mA ;input range 0(4)...20 mA Example: AO00.00 Depending on the setting of the corresponding transfer address (see below), the input value is defined as 0...20 or 4...20mA value.

  • Page 94: Technical Specifications

    Analogue inputs and outputs 5.3.2.5. Technical specifications Application: ..........KUAX 680I, 680C, KDT 680CT Admissible ambient conditions storage temperature: ......-25...+70 °C ambient temp. during operation: ..0...55 °C relative humidity ........ 50...95 % Outputs (channels): ........4 Potential separation ......... no Addressing: ..........

  • Page 95: Analogue Input/Output Modules

    Analogue input/output modules 5.4. Analogue input/output modules These modules have analogue inputs and analogue outputs. They are mainly used in cases where only a small amount of channels is required. 5.4.1. Analogue I/O module, 2 I 0...10 V, 2 O 0...±10V Inputs: 0...10 V, 10 bit, 2 channels Outputs:...

  • Page 96: Slots

    Analogue inputs and outputs 5.4.1.1. Slots Analogue inputs This module uses the analogue-to-digital converter of the proc- essor on the CPU for the analogue inputs. For this purpose, cer- tain slots carry additional leads. If the analogue inputs are used, then the module can only be operated on these slots (see "3.3.

  • Page 97: Connectors

    Analogue input/output modules 5.4.1.2. Connectors Analogue inputs The connections of the signal lines for the analogue inputs are on the 8-pin plug-screw connector underneath the module: Both leads, signal and Gnd , must definitely be connected for each channel. The Gnd -connections are not identical with the device-Gnd.

  • Page 98: Representation Of The Analogue Value

    Analogue inputs and outputs 5.4.1.3. Representation of the analogue value Analogue inputs The read analogue value is digitalized and then written into a 16bit address as a two’s complement representation. In this ad- dress, the value is in bits 5...14. Bits 0...4 and 15 (sign bit) al- ways have the status 0: Address bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Status 0 ------------ value read ----------- 0 0 0 0 0...

  • Page 99: Technical Specifications

    Analogue input/output modules 5.4.1.4. Technical specifications Application: ..........KUAX 680I, 680C, KDT 680CT Admissible ambient conditions storage temperature: ......-25...+70 °C ambient temp. during operation ..0...55 °C relative humidity ........ 50...95 % Inputs ............2 Potential separation ......... no Addressing: ..........

  • Page 100: Analogue I/O Module, 2 I 0

    Analogue inputs and outputs 5.4.2. Analogue I/O module, 2 I 0...20 mA, 2 O 0...±10V Inputs: 0(4)...20 mA, 10 bit, 2 channels Outputs: -10...0...+10 V, 12 bit, 2 channels 5.4.2.1. Slots Analogue inputs This module uses the analogue-to-digital converter on the proc- essor of the CPU for the analogue inputs.

  • Page 101: Connectors

    If only the analogue outputs of a module are to be used, then the module can also be plugged into any other slot. Exception for KUAX 680I with 2 RS-485 connectors: Do not plug into slot 0 as this might lead to collisions with the V.24 leads.

  • Page 102: Representation Of The Analogue Value

    Analogue inputs and outputs 5.4.2.3. Representation of the analogue value Analogue inputs The read analogue value is digitalized and then written into a 16bit address as a two’s complement representation. In this ad- dress, the value is in bits 5...14. Bits 0...4 and 15 (sign bit) al- ways have the status 0: Address bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Status 0 ------------ value read ----------- 0 0 0 0 0...

  • Page 103: Transfer Address Ranges Of The Analogue Inputs

    Analogue input/output modules 5.4.2.4. Transfer address ranges of the analogue inputs Each module is assigned a transfer address range of 32 byte (see also "3.4. Service modules"). In this range, the analogue input/output module uses the first group to determine the range of the input signal.

  • Page 104: Technical Specifications

    Analogue inputs and outputs 5.4.2.5. Technical specifications Application: ..........KUAX 680I, 680C, KDT 680CT Admissible ambient conditions storage temperature: ......-25...+70 °C ambient temp. during operation ..0...55 °C relative humidity ........ 50...95 % Inputs ............2 Potential separation ......... no Addressing: ..........

  • Page 105: Analogue I/O Module, 2 I 0

    Analogue input/output modules Precision (relative to final value) max. error (at 25 °C) ......± 0.4 % norm. error (at 25 °C) ......± 0.1 % temperature coefficient ...... 0.01 % /K linearity error ........± 0.1 % Sign: ............1bit Weight: .............

  • Page 106: Slots

    Analogue inputs and outputs 5.4.3.1. Slots Analogue inputs This module uses the analogue-to-digital converter of the proc- essor on the CPU for the analogue inputs. For this purpose, cer- tain slots carry additional leads. If the analogue inputs are used, then the module can only be operated on these slots (see "3.3.

  • Page 107: Connectors

    Analogue input/output modules 5.4.3.2. Connectors Analogue inputs The connections of the signal lines for the analogue inputs are on the 8-pin plug-screw connector underneath the module: Both leads, signal and Gnd , must definitely be connected for each channel. The Gnd -connections are not identical with the device-Gnd.

  • Page 108: Representation Of The Analogue Value

    Analogue inputs and outputs 5.4.3.3. Representation of the analogue value Analogue inputs The read analogue value is digitalized and then written into a 16bit address as a two’s complement representation. In this ad- dress, the value is in bits 5...14. Bits 0...4 and 15 (sign bit) al- ways have the status 0: Address bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Status 0 ------------ value read ----------- 0 0 0 0 0...

  • Page 109: Transfer Address Ranges Of The Analogue Inputs

    Analogue input/output modules 5.4.3.4. Transfer address ranges of the analogue inputs Each module is assigned a transfer address range of 32 byte (see also "3.4. Service modules"). In this range, the analogue input/output module uses the first group to determine the range of the input signal.

  • Page 110: Technical Specifications

    Analogue inputs and outputs 5.4.3.5. Technical specifications Application: ..........KUAX 680I, 680C, KDT 680CT Admissible ambient conditions storage temperature: ......-25...+70 °C ambient temp. during operation ..0...55 °C relative humidity ........ 50...95 % Inputs ............2 Potential separation ......... no Addressing: ..........

  • Page 111: Anal. I/O Module, 2 I 0

    Analogue input/output modules 5.4.4. Anal. I/O module, 2 I 0...20 mA, 2 O 0...20 mA Inputs: 0(4)...20 mA, 10 bit, 2 channels Outputs: 0(4)...20 mA, 12 bit, 2 channels 5.4.4.1. Slots Analogue inputs This module uses the analogue-to-digital converter on the proc- essor of the CPU for the analogue inputs.

  • Page 112: Connectors

    Analogue inputs and outputs Analogue outputs The digital-to-analogue converter can convert 12bit digital val- ues (including sign). If only the analogue outputs of a module are to be used, then the module can also be plugged into any other slot. Exception for devices with 2 RS-485 connectors: Do not plug into slot 0 as this might lead to collisions with the V.24 leads.

  • Page 113: Representation Of The Analogue Value

    Analogue input/output modules 5.4.4.3. Representation of the analogue value Analogue inputs The read analogue value is digitalised and then written into a 16bit address as a two’s complement representation. In this ad- dress, the value is in bits 5...14. Bits 0...4 and 15 (sign bit) al- ways have the status 0: Address bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Status 0 ------------ value read ----------- 0 0 0 0 0...

  • Page 114: Transfer Address Ranges

    Analogue inputs and outputs 5.4.4.4. Transfer address ranges Each module is assigned a transfer address range of 32 byte (see also "3.4. Service modules"). In this range, the analogue input/output module uses the first group to determine the range of the input signal. Furthermore, the service module reports any occurring wire failure to this range.

  • Page 115: Technical Specifications

    Analogue input/output modules 5.4.4.5. Technical specifications Application: ..........KUAX 680I, 680C, KDT 680CT Admissible ambient conditions storage temperature: ......-25...+70 °C ambient temp. during operation ..0...55 °C relative humidity ........ 50...95 % Inputs ............2 Potential separation ......... no Addressing: ..........
  • Page 116 Analogue inputs and outputs 5 - 56...

  • Page 117: Counter Modules

    6. Counter modules Counter modules are used when the defined funtions of the software counters in the program are not sufficient or when the requested counting frequency cannot be reached because of the cycle time. There are various counter modules available. - multi-function counter modules with 1 or 2 channels and 24V inputs, counting frequency up to 25 kHz - multi-function counter modules with 2 channels and...

  • Page 118: Counter Module, 1 Or 2 Multi-Function Counters, 24Bit

    Counter modules 6.1. Counter module, 1 or 2 multi-function counters, 24bit There are modules with one or two counters available each of which have their own bidirectional counter. The input wiring is set so as to allowing registering frequencies of up to 25 kHz. 6.1.1.

  • Page 119: Counter Modules With 24V Inputs

    Multi-function counter 6.1.3. Counter modules with 24V inputs 6.1.3.1. Connectors The connectors of the signal lines are located on the 8-pin plug-screw connector underneath the module: Module with 1 counter (680.454.01): Module with 2 counters (680.454.02): 6 - 3...
  • Page 120 Counter modules Generator supply The generator should be supplied via the same supply that also supplies the controller with 24 V DC. If the device is supplied externally, a potential equalization between the 0V potentials must be installed in any case. The module may recognize reference pulses in case of a voltage drop.

  • Page 121: Technical Specifications

    Multi-function counter 6.1.3.2. Technical specifications Application: ..........KUAX 680I, 680C, KDT 680CT Admissible ambient conditions storage temperature ......-25...+70 °C ambient temp. during operation: ..0...55 °C relative humidity ........ 50...95 % Number of counters / module: ....1 or 2 Counting depth: ........

  • Page 122: Counter Module With Rs422 Interface

    Counter 2 G nd R ef- Ref- Ref+ R ef+ Ref+ R ef+ Ref- R ef- G nd Enclosure to instruction manual E 326 GB, Page 6-6: Correction of connector description for module 680.454.08 Kuhnke GmbH, 20 October1997 6 - 6...

  • Page 123: Technical Specifications

    M3 screws (under certain circumstances, the additional grounding of the other end of the cable may be commendable). 6.1.4.2. Technical specifications Application: ..........KUAX 680I, 680C, KDT 680CT Admissible ambient conditions storage temperature ......-25...+70 °C ambient temp. during operation: ..0...55 °C relative humidity ........

  • Page 124: Programming

    Counter modules 6.1.5. Programming A service module (see "3.4. Service modules") realises the counting functions. The mode of operation of the counter mod- ule is determined by programming transfer addresses and inter- rupt modules which are assigned to the slot of the module. 6.1.5.1.
  • Page 125 Multi-function counter Assignment of transfer addresses Address Symbol Comment SLx00.00 lowbyte actual SLx00.01 middlebyte value SLx00.02 highbyte SLx00.03 SLx00.04 lowbyte preset SLx00.05 middlebyte value SLx00.06 highbyte SLx00.07 SLx00.08 lowbyte reference SLx00.09 middlebyte value SLx00.10 highbyte SLx00.11 SLx00.12 SLx00.13 SLx00.14 SLx00.15 SLx01.00 <>0: release IRQ (interr.

  • Page 126: Control Flags

    Counter modules 6.1.5.2. Control flags The addresses SLx01.11 (SET_RV), SLx01.12 (SET_PV) and SLx01.13 (ACT_CTRL) work as control flags which request the counter (when the signal changes from "0" to "<>0") to take over the corresponding settings (see below). After the counter has taken over the settings it resets the flags (0).

  • Page 127: Counter Control

    Multi-function counter 6.1.5.5. Counter control Control flag SLx01.13 (ACT_CTRL) effects an activation of the counter control in SLx01.00...05: SLx01.00 (CTRL_IRQ) allows or disallows a interrupt re- quest. An interrupt calls the corresponding interrupt module (see next page). SLx01.01 (CTRL_REF) activates or deactivates the reference input.

  • Page 128: Interrupt

    Counter modules 6.1.5.7. Interrupt If an interrupt is generated by reaching the reference value in SLx00.08...10 (RV_xB), the corresponding interrupt module is called automatically (see "6.1.5.1. Transfer address ranges and interrupt modules"). The following activities are then carried out automatically: Actions before entering the interrupt module: - The actual counter value in SLx00.00...02 (AV_xB) is up- dated.

  • Page 129: Counter Module, 2 Event Counters, 16Bit

    Event counter 6.2. Counter module, 2 event counters, 16bit Function Event counter for connecting a simple pulse generator. The counting direction can be preset by the program. The input wiring is set in a way that allows registering frequen- cies of up to 25 kHz. 6.2.1.

  • Page 130: Connectors

    The generator supply (24 V DC) can be tapped from the two supply strips underneath the signal strip (see Instruction manual KUAX 680I, E 308GB, "System supply and feeding of the supply strips"). If an external supply is used, a potential equalization between the 0V potentials must be installed in any case.

  • Page 131: Technical Specifications

    Event counter 6.2.3. Technical specifications Application: ..........KUAX 680I, not KUAX 680C or KDT 680CT slot ............1 Admissible ambient conditions storage temperature ......-25...+70 °C ambient temp. during operation: ..0...55 °C relative humidity ........ 50...95 % Number of counters / module: ....2 Counting depth: ........

  • Page 132: Programming

    Counter modules 6.2.4. Programming A service module (see "3.4. Service modules") realises the counter functions. The required mode of operation is deter- mined by programming transfer addresses and interrupt mod- ules which are assigned to the slot of the module. 6.2.4.1.
  • Page 133 Event counter Assignment of transfer addresses Address Symbol Comment SLx00.00 lowbyte actual value SLx00.01 highbyte SLx00.02 SLx00.03 SLx00.04 lowbyte preset value SLx00.05 highbyte SLx00.06 SLx00.07 SLx00.08 SLx00.09 SLx00.10 SLx00.11 SLx00.12 SLx00.13 SLx00.14 SLx00.15 SLx01.00 counter enable/disable (<>0: ON, 0: OFF) SLx01.01 counting direction (<>0: count up, =0: count down) counter...

  • Page 134: Setting The Counter To The Preset Value / To 0

    Counter modules 6.2.4.2. Setting the counter to the preset value / to 0 Control flag SLx01.04 (PV_LB) is used for setting the counter: SLx01.04 =0: no function <>0: take over preset value in SLx00.04...05 (PV_xB) 6.2.4.3. Switching the counter on / off Control flag SLx01.00 (RUN) is used for switching the counter on or off: SLx01.00 =0: counter off...

  • Page 135: Ssi Module, 24 Bit, For 2 Absolute Value Devices

    The module can be plugged into any slot of the controller. The number of modules per controller is limited due to the power consumption of each module (see appendix A): Controller Max. number of SSI modules KUAX 680I - 680.420.xx - 680.423.xx KUAX 680C KDT 680CT...

  • Page 136: Connectors

    Counter modules 6.3.2. Connectors The connectors of the signal lines for the absolute angle de- vices are on the 8-pin plug-screw connector underneath the module (see illustration on previous page): K = coding element Connector Function +24V power supply of the absolute value devices "...

  • Page 137: Technical Specifications

    SSI module 6.3.3. Technical specifications Application: ..........KUAX 680I, 680C, KDT 680CT slot ............all slots Admissible ambient conditions storage temperature ......-25...+70 °C ambient temp. during operation: ..0...55 °C relative humidity ........ 50...95 % Number of counters / module: ....2 Counting depth: ........

  • Page 138: Programming

    Counter modules 6.3.4. Programming A service module (see "3.4. Service modules") realizes the counter functions. The required mode of operation is deter- mined by programming transfer addresses and interrupt mod- ules which are assigned to the slot of the module. 6.3.4.1.
  • Page 139 SSI module Assignment of transfer addresses Address Symbol Comment SLx00.00 low byte actual value SLx00.01 middle byte encoder #1 SLx00.02 high byte SLx00.03 unused SLx00.04 low byte actual value SLx00.05 middle byte encoder #2 SLx00.06 high byte SLx00.07 unused SLx00.08 resolution of encoder #1 24 bit max.(default = 24 bit), as from version 3.0 SLx00.09 resolution of encoder #2 24 bit max.(default = 24 bit), as from version 3.0...

  • Page 140: User Program

    Counter modules 6.3.4.2. User program The user program directly accesses the transfer addresses. Actual values The actual encoder values are written into three addresses each. The user program reads these data directly out of the transfer addresses. Read the contents of address SLx00.15 before reading in the actual values.

  • Page 141: Communication Modules

    This module has its own V.24 interface (RS 232) and is there- fore independent of the ACIA in the processor on the CPU board. It can be applied to every KUAX 680I or 680C. It serves data communication only and cannot be used for programming the controller.

  • Page 142: Connector

    Communication modules 7.1.2. Connector There is a female 9pin Sub-D connector on the lower narrow side of the module. Pin assignment: Inter-connections - cross over the connections of data lines TxD and RxD of both communication partners; - connect Gnd to the Gnd connector of the communication partner;...

  • Page 143: Technical Specifications

    V.24 module 7.1.3. Technical specifications Application: ..........KUAX 680I, 680C, KDT 680CT slots: ............ all slots Admissible ambient conditions storage temperature ......-25...+70 °C ambient temp. during operation: ..0...55 °C relative humidity ........ 50...95 % Type: ............V.24 interface (RS232) Function: ..........

  • Page 144: Tty Module (20 Ma)

    CPU board. The TTY is a passive interface, i.e. the power supply must be provided externally, e.g. by the communica- tions partner. The module can be applied to every KUAX 680I or 680C. It serves data communication only and cannot be used for pro- gramming the controller.

  • Page 145: Connector

    TTY module 7.2.2. Connector There is a female 9pin Sub-D connector in the lower narrow side of the module. Pin assignment: Connection Function R+, R- Receive channel T+, T- Transmit channel The signal strip underneath the module remains unused. Shielding We recommend using shielded cables if cables of greater length have to be applied.

  • Page 146: Technical Specifications

    Communication modules 7.2.3. Technical specifications Application: ..........KUAX 680I, 680C, KDT 680CT slots: ............ all slots Admissible ambient conditions storage temperature ......-25...+70 °C ambient temp. during operation: ..0...55 °C relative humidity ........ 50...95 % Type: ............passive TTY interface (20 mA current loop) Function: ..........

  • Page 147: Rs 485 Module

    This module has its own RS 485 interface and is therefore inde- pendent of the ACIA in the processor on the CPU board. The module can be applied to every KUAX 680I or 680C. It serves data communication only and cannot be used for programming the controller.

  • Page 148: Connector

    Communication modules 7.3.2. Connector There is an 8pin screw-type locking connector in the lower nar- row side of the module. Bus termination 1 + Data out + Data out - Bus termination 1 - Bus termination 2 + K = remove coding element Data in + Data in - Bus termination 2 -...

  • Page 149: Technical Specifications

    (under certain cir- cumstances, the additional grounding of the other end of the cable may be commendable). 7.3.3. Technical specifications Application: ..........KUAX 680I, 680C, KDT 680CT slots: ............ all slots Admissible ambient conditions storage temperature ......-25...+70 °C ambient temp.

  • Page 150: Programming The V.24, Tty And Rs 485 Modules

    Communication modules 7.4. Programming the V.24, TTY and RS 485 modules The modules are suitable for simple and more complex tasks. Their programming is accordingly regulated. There are differ- ent way of programming the modules. The three modules only differ in their hardware. The software is the same.

  • Page 151: Kubes Modules V24Xe, V24Xs, V24Xstrg

    Programming 7.4.2. KUBES modules V24XE, V24XS, V24XSTRG The three KUBES modules delivered with KUBES will suffice for simple communication tasks: KUBES module V24XE Function: Receives individual characters or strings <Input 1> <Output> KUBES module V24XS Function: Sends out individual characters <Input 1>...

  • Page 152: Parameters Of The Kubes Modules

    Communication modules 7.4.2.1. Parameters of the KUBES modules <Input 1> The first input parameter is the same for all three KUBES mod- ules. It consists of a coherent, user-defined data field of byte operands: Byte Explanation No. Example Symbol user sets the baudrate (transfer rate) (see table "To set the baudrate" on next page) data format (see table "To set the data format"...
  • Page 153 Programming To set the baudrate Input the transfer rate into address BAUD (example: BM00.00...01). The corresponding values are show in the fol- lowing table: Module Baudrate Value to be set V.24 RS 485 TTY 1200 1800 2000 2400 3600 4800 7200 9600 19200...
  • Page 154 Communication modules To set the data format Input the data format into address FORMAT (example: BM00.02). The corresponding values are shown in the follow- ing table: Function 7 6 5 4 3 2 1 0 5 bits 6 bits 7 bits 8 bits 1 stop bit 1.5 stop bits...

  • Page 155: Example Program

    Example program 7.4.2.2. Example program The example is structured as follows: - The ORG(anization) module contains the program decision for whether you want to send individual characters or strings. Depending on the result, the program branches to the corre- sponding program modules INDIV.PRO or STRINGS.PRO. - The V.24 interface is initialized in the initialization module INI_V24.INI which is called up once at the start of the pro- gram by the ORG module.
  • Page 156 Communication modules ======== Kubes ====================================================== Symbol table Project : V24_EXT created : Jul 20 1993 15:12 User : Gerd Hildebrandt altered : Jul 21 1993 14:33 Comment : Communication via the V.24 module ====================================================================== Address: Symbol: Comment: Supplement: I00.00 SEND send data I00.07 IC_STRG...
  • Page 157 Example program ======== Kubes ====================================================== Organization module IL Project: V24_EXT Module : ORG No.: 1 created : Jul 20 1993 15:12 User : Gerd Hildebrandt altered : Jul 21 1993 14:28 ====================================================================== 1: ; initialize interface 2: ; —————————————— 4: V24INIT L M00.00 START JPINIT INI_V24...
  • Page 158 Communication modules ======== Kubes ====================================================== Program module IL Project: V24_EXT Module : INDIV No.: 1 created : Jul 21 1993 09:32 User : Gerd Hildebrandt altered : Jul 21 1993 14:28 Comment: INDIVIDUAL ====================================================================== 1: ; receive individual characters 2: ; ——————————— 4: ;...
  • Page 159 Example program ======== Kubes ================================================ Program module IL Project: V24_EXT Module : STRINGS No.: 2 created : Jul 21 1993 09:32 User : Gerd Hildebrandt altered : Jul 21 1993 14:28 Comment: STRINGS ====================================================================== 1: ; receive individual characters 2: ; ——————————— 4: ;...
  • Page 160 : Gerd Hildebrandt altered : Jul 21 1993 11:36 Comment: INI_STRG ====================================================================== 1: NMB_CHR BM01.00 TEXT “Kuhnke” ;string to be sent incl. no ======== Kubes ===================================================== Init. module IL Project: V24_EXT Module : INI_V24 No.: 1 created : Jul 21 1993 09:35...

  • Page 161: Profibus Modules

    Example program 7.5. PROFIBUS modules PROFIBUS modules can be used in conjunction with KUAX 680I, KUAX 680C and KDT 680CT. They use the PROFIBUS- DP protocol that is standardised by DIN 19245, Part 3. These modules are equipped with their own processor to minimise the load on the CPU.
  • Page 162 Communication modules 7 - 22...

  • Page 163: Stepper Motor Modules Without Processor

    8. Stepper motor modules without proces- Stepper motor modules are used for controlling stepper motors. In KUAX 680I as from monitor version 4.16. When working with KUAX 680C you must make sure that the module uses the same processor ressources as the internal ana- log outputs (see ch.

  • Page 164: Plugging Stepper Motor Modules

    Stepper motor modules without processor 8.1. Plugging stepper motor modules Stepper motor modules use the 2 pulse-width modulated out- puts (PWM) of the processor on the CPU board of the control- ler. These PWM outputs are installed in parallel on 2 slots (see "3.3.1.

  • Page 165: Service Modules

    8.2. Service modules Service modules are delivered together with KUBES (as from version 4.00). After installing KUBES on the PC they are in the sub-directory that contains the program files (KUBESEXE). They are transferred into the user program of the controller to- gether with the project.

  • Page 166: Assignment Of Transfer Addresses

    Stepper motor modules without processor 8.2.2. Assignment of transfer addresses Assigns a function to the tranfer addresses. The address selec- tion is decided by the slot into which the module is plugged and by the channel that is used: Address Symbol Significance SLx00.00...

  • Page 167: Software

    8.3. Software During controller configuration with the program KUBES, a service module is automatically embedded into the program when the stepper motor module is selected. This module contains the stepper motor software as well as the assignment list of the transfer addresses described in chapter 8.2.

  • Page 168: Terminology And Functions

    Stepper motor modules without processor 8.3.2. Terminology and functions Step A step is the path length a stepper motor covers with each clock pulse. 8.3.2.1. Start/stop ramp SLx01.08 (RAMP) The ramp length indicates the number of steps between start and travelling frequency and between travelling frequency and stop.

  • Page 169: Preset Value Step Counter Slx01.00 (Sv_Lw)

    8.3.2.3. Travelling frequency SLx01.12 (MOV_FRQ) The travelling – or moving – frequency determines the motor speed. Its minimum value can be as small as the set start/stop frequency; its maximum value is 10 kHz. Each positioning operation may have a different frequency. The set travelling frequency remains valid for all subsequent runs, including manual runs and reference runs, until it is changed.

  • Page 170: Mode Of Positioning Operations Slx01.14 (Mode)

    Stepper motor modules without processor 8.3.2.6. Preset value step counter SLx01.00 (SV_LW) The step counter preset allows you to change the step counter (actual position) to any desired value at any time. The software copies the preset value into the counter as soon as bit 5 in byte "Control functions"...
  • Page 171 Stepper motor enable: The motor must receive an enable signal before starting the run or it will not start. If the release signal is switched off during a run, the motor will stop at once. The enable signal is given by setting bit 4 in byte "control functions"...

  • Page 172: Control Functions Slx01.07 (Control)

    Stepper motor modules without processor 8.3.2.8. Control functions SLx01.07 (CONTROL) The command is enabled by setting the corresponding bit to 1. The stepper motor software acknowledges by 0: Bit Function 0 Start: Starts a run in the selected mode of operation and considering the set ramp functions.
  • Page 173 To set control bits Using an OR operation to set individual bits in a byte by a bi- nary value where only the desired bit takes on status "1". All bits stating "0" remain unchanged. Example "Start run": SLx01.07 ;load control byte %00000001 ;set bit 0 SLx01.07...

  • Page 174: Error Messages

    Stepper motor modules without processor 8.3.2.9. Error messages The following errors may occur: Error Function Bit Number hardware limit switch left reached hardware limit switch right reached software limit switch left reached software limit switch right reached no "ready" message from motor illegal run command short-circuit or overload on output unused...

  • Page 175: Stepper Motor Module, 1 Channel

    8.4. Stepper motor module, 1 channel Status indicators (LEDs) Terminals 8.4.1. Connection of the signal lines The input and output signals are connected to the module by screw-type locking terminals on the signal strip underneath the module: Connector Function enable motor enable (to the motor) direction direction of rotation (to the motor)
  • Page 176 Stepper motor modules without processor 8.4.2. Technical specifications Application: ..........KUAX 680I (as from ver. 4.16), KUAX 680C, KDT 680CT slot ............1 or 2 Admissible ambient conditions storage temperature ......-25...+70 °C ambient temp. during operation ..0...55 °C relative humidity ........
  • Page 177 8.5. Stepper motor module, 2 channels Stepper motor (channel) 0: Stepper motor (channel) 1: Status indicators (LEDs) Status indicators (LEDs) Terminals Terminals 8.5.1. Connection of the signal lines The input and output signals are connected to the module by screw-type locking terminals underneath (channel 0) the mod- ule and on (channel 1) the module.

  • Page 178: Technical Specifications

    Stepper motor modules without processor 8.5.2. Technical specifications Application: ..........KUAX 680I (as from ver. 4.16), KUAX 680C, KDT 680CT slot ............1 or 2 Admissible ambient conditions storage temperature ......-25...+70 °C ambient temp. during operation ..0...55 °C relative humidity ........
  • Page 179 8.6. Example program ======== KUBES ====================================================== Project structure Project : SM1_680I created : Aug 30 1993 11:32 User Lillge modified: Jun 10 1994 12:36 Comment : Test program for SM module 680I ====================================================================== ORG.ORG/1 *———>PARAME.INI/1 *———>COMMANDS.PRO/1 *———>AUTOPRO.PRO/2 ======== KUBES ====================================================== Organisationsbaustein Project: SM1_680I Module : ORG...
  • Page 180 Stepper motor modules without processor ======== KUBES ====================================================== Program module IL Project: SM1_680I Module : AUTOPRO No.: 2 created : Aug 31 1993 14:31 User : Lillge modified: Sep 03 1993 08:07 Comment: Step sequence for posi program ====================================================================== 1: STEP_0 SBM15.00 JP<>...
  • Page 181 41: STEP_4 SBM15.00 JP<> STEP_5 9000 X_PRE_LL SLC00.00;(pres.pos.x-ax.SM) $0000 X_PRE_HL SLC00.02;(pres.pos.x-ax.SM) SBM15.00 51: STEP_5 SBM15.00 JP<> STEP_6 10000 X_PRE_LL SLC00.00;(pres.pos.x-ax.SM) $0000 X_PRE_HL SLC00.02;(pres.pos.x-ax.SM) SBM15.00 61: STEP_6 SBM15.00 JP<> 2000 X_PRE_LL SLC00.00;(pres.pos.x-ax.SM) $0000 X_PRE_HL SLC00.02;(pres.pos.x-ax.SM) SBM15.00 71: DEL SBM15.00 JP<> SBM15.00 76: END 8 - 19...
  • Page 182 Stepper motor modules without processor ======== KUBES ===================================================== Program module IL Projext: SM1_680I Module : COMMANDS No.: 1 created : Aug 30 1993 15:09 User : Lillge modified: Nov 09 1993 17:54 Comment: Execute SM functions ====================================================================== 1: ; ——— Trigger reference run ——— X_REF I00.00 ;...
  • Page 183 45: ; ——— Start posi program ———— X_REFSCH I00.01 ;(X-ref.init.,simul. JPCN SA_END X_COMMAN SLC01.07 ;(cmnd byte x-axis) %0000_0001 JP<> SA_END AUTOPRO X_RAMP_L SLC01.08 ;(ramp x-ax.in steps 10000 ; Hz X_POSV_L SLC01.12 ;(pos.x-ax.in steps) ; Posi step X_MODE SLC01.14 ;(oper.mode x-axis) X_COMMAN SLC01.07 ;(cmnd byte x-axis)
  • Page 184 Stepper motor modules without processor 89: ; ——— Positive manual run —————— X_H_NEG I00.05 ;(neg.man.run x-ax.) PP00.05 PP00.05 JPCN HRI_STP X_RAMP_L SLC01.08 ;(ramp x-ax.in steps 1500 ; Hz X_POSV_L SLC01.12 ;(pos.speed x-axis) X_MODE SLC01.14 ;(oper.mode x-axis) 100: 101: X_COMMAN SLC01.07 ;(cmnd byte x-axis) 102: %0000_0001...
  • Page 185 131: HLE_STP LN X_H_POS I00.06 ;(pos.man.run x-ax.) 132: PP00.08 133: PP00.08 134: JPCN HLE_END 135: 136: X_COMMAN SLC01.07 ;(cmnd byte x-axis) 137: %0000_0010 138: X_COMMAN SLC01.07 ;(cmnd byte x-axis) 139: HLE_END NOP 140: ; ———— New value for step counter —— 141: X_PSV_TO I00.07 ;(import PV x-ax.)
  • Page 186 Stepper motor modules without processor ========= KUBES =================================================== Init. module IL Project: SM1_680I Module : PARAME No.: 1 created : Aug 30 1993 14:51 User : Lillge modified: Nov 22 1993 14:22 Comment: PARAME ====================================================================== 1: ; ++++++++++++++++++++++++++++++++++++++++++++ 2: ; Motor parameters for the x-axis 3: ;...

  • Page 187: Stepper Motor Module With Processor

    9. Stepper motor module with processor Stepper motor modules are used for controlling stepper motors. The module described in this chapter has its own processor thus reducing the load on the CPU capacity. The restrictions and limitations of the stepper motor modules without processor de- scribed in chapter 8 (amount, slots, processor resources in KUAX 680C) do not apply to this module.

  • Page 188: Plugging Stepper Motor Modules

    Stepper motor module with processor 9.1. Plugging stepper motor modules As opposed to the stepper motor modules without processor (chapter 8), this module can be plugged into any controller slot. The only limitation to the number of plugged-in modules is the availability of free slots and the total power consumption of all plugged-in modules.

  • Page 189: Assignment Of Transfer Addresses

    9.2.2. Assignment of transfer addresses See table on previous page for assignment of address ranges. Address Symbol Significance SLx00.00 low byte destination position: low word SLx00.01 high byte destination (in steps) of SLx00.02 low byte high word a program run SLx00.03 high byte SLx00.04...

  • Page 190: Software

    Stepper motor module with processor 9.3. Software During controller configuration with the program KUBES, a service module is automatically embedded in the program when the stepper motor module is selected. This module contains the stepper motor software as well as the assignment list of the transfer addresses described in chapter 9.2.

  • Page 191: Terminology And Functions

    9.3.2. Terminology and functions Step A step is the path length a stepper motor covers with each clock pulse. 9.3.2.1. Start/stop ramp SLx01.08 (RAMP) The ramp length indicates the number of steps between start and travelling frequency and between travelling frequency and stop.

  • Page 192: Travelling Frequency Slx01.12 (Mov_Frq)

    Stepper motor module with processor 9.3.2.3. Travelling frequency SLx01.12 (MOV_FRQ) The travelling – or moving – frequency determines the motor speed. Its minimum value can be as small as the set start/stop frequency; its maximum value is 15 kHz. Each positioning operation may have a different frequency. The set travelling frequency remains valid for all subsequent runs, including manual runs and reference runs, until it is changed.

  • Page 193: Preset Value Step Counter Slx01.00 (Sv_Lw)

    9.3.2.6. Preset value step counter SLx01.00 (SV_LW) The step counter preset allows you to change the step counter (actual position) to any desired value at any time. The software copies the preset value into the counter as soon as bit 5 in byte "Control functions"...
  • Page 194 Stepper motor module with processor Stepper motor enable: The motor must receive an enable signal before starting the run or it will not start. If the enable signal is switched off during a run, the motor will stop at once. The enable signal is given by setting bit 4 in byte "control functions"...

  • Page 195: Timing Diagrams Of Run Jobs

    9.3.2.8. Timing diagrams of run jobs Exampl #1 Restarting several run jobs before reaching the destination po- sition. Flag "job buffer overflow" shows that it is possible to give a new run command. 1. Start 2. Start 3. Start Commands: SLx01.07 bit 0 Destination 1 start bit...

  • Page 196: Control Functions Slx01.07 (Control)

    Stepper motor module with processor 9.3.2.9. Control functions SLx01.07 (CONTROL) The command is enabled by setting the corresponding bit to 1. The stepper motor software acknowledges by writing 0: Bit Function 0 Job transfer to the module: Transfers a run job of the selected mode of operation and considering the set ramp functions.
  • Page 197 To set control bits Using an OR operation to set individual bits in a byte by a bi- nary value where only the desired bit takes on status "1". All bits stating "0" remain unchanged. Example "Transfer run job": SLx01.07 ;load control byte %00000001 ;set bit 0...

  • Page 198: Error Messages

    Stepper motor module with processor 9.3.2.10. Error messages The following errors may occur: Error Function Number hardware limit switch left reached hardware limit switch right reached software limit switch left reached software limit switch right reached no "ready" message from motor illegal run command short-circuit or overload at output display for both channels at channel 0...

  • Page 199: Stepper Motor Module, 2 Channels

    9.4. Stepper motor module, 2 channels Stepper motor (channel) 0: Stepper motor (channel) 1: Status indicators (LEDs) Status indicators (LEDs) Terminals Terminals 9.4.1. Connection of the signal lines The input and output signals are connected to the module by screw-type locking terminals underneath (channel 0) the mod- ule and on (channel 1) the module.

  • Page 200: Technical Specifications

    Stepper motor module with processor 9.5.2. Technical specifications Application: ..........KUAX 680I, 680C, KDT 680CT slot ............optional Admissible ambient conditions storage temperature ......-25...+70 °C ambient temp. during operation ..0...55 °C relative humidity ........ 50...95 % Number of stepper motors (channels) ..2 Travelling frequency .......

  • Page 201: Example Program

    9.5. Example program On the following pages you will find a program documentation for channel 0, called x-axis. ======== KUBES ===================================================== Project structure Project : SM680BE Network : created : Aug 30 1993 11:32 User : Paul Posi changed : Jun 27 1996 10:06 Comment : SM module with up for KUAX 680.
  • Page 202 Stepper motor module with processor ======== KUBES ===================================================== Organisation module IL Project : SM680BE Network : Module : ORG No.: 1 created : Aug 30 1993 11:33 User : Paul Posi changed : Jun 27 1996 09:59 Comment : Initialisation and main program ====================================================================== 1: ;...
  • Page 203 ======== KUBES ====================================================== Program module IL Project : SM680BE Network : Module : AUTOPRO No.: 2 created : Aug 31 1993 14:31 User : Paul Posi changed : Jun 27 1996 09:58 Comment : Step chain for the positioning program ====================================================================== 1: ;...
  • Page 204 Stepper motor module with processor 36: STEP_3 X_STEP_C SBM15.00 ; (step cntr x-auto prg.) JP<> STEP_4 4000 DP_LWX SLA00.00 ; (SM set pos. X-axis) $0000 DP_HWX SLA00.02 ; (SM set pos. X-axis) X_STEP_C SBM15.00 ; (step cntr x-auto prg.) 46: STEP_4 X_STEP_C SBM15.00 ;...
  • Page 205 ======== KUBES ====================================================== Program module IL Project : SM680BE Network : Module : COMMNDX2 No.: 5 created : Apr 22 1996 09:26 User : Paul Posi changed : Jun 27 1996 09:58 Comment : Execute SM functions for X-axis, part 2 ====================================================================== 1: ;...
  • Page 206 Stepper motor module with processor 38: ; ——— Negative manual run, start ——— X_H_POS I00.06 ; (pos. man. run X-axis) PP00_07 PP00.07 ; (progr. pulse) PP00_07 PP00.07 ; (progr. pulse) JPCN HLI_STP RAMPX SLA01.08 ; (ramp value X-axis) 3000 ; Hz MOV_FRQX SLA01.12 ;...
  • Page 207 ======== KUBES ====================================================== Program module IL Project : SM680BE Network : Module : COMMNDX1 No.: 6 created : Aug 30 1993 15:09 User : Paul Posi changed : Jun 27 1996 10:01 Comment : Execute SM functions for X-axis, part 1 ====================================================================== 1: ;...
  • Page 208 Stepper motor module with processor 37: ; ——— Start positioning step — X_START I00.02 ; (start X-axis) DEST_OKX SLA01.05 ; (destin. X-axis reached) PP00_01 PP00.01 ; (progr. pulse) PP00_01 PP00.01 ; (progr. pulse) JPCN STA_END ST_ST_FX SLA01.10 ; (start/stop fr. X-axis) 1000 RAMPX SLA01.08 ;...
  • Page 209 CONTROLX SLA01.07 ; (command X-axis) %1000_1001 CONTROLX SLA01.07 ; (command X-axis) DEST_OKX SLA01.05 ; (X-axis destin. reached) 90: A_END 92: ; ——— Trigger stop (with ramps) —— X_STOP I00.03 ; (stop X-axis) PP00_03 PP00.03 ; (progr. pulse)112: NST_END NOP PP00_03 PP00.03 ;...
  • Page 210 Stepper motor module with processor ======== KUBES ====================================================== Init. module IL Project : SM680BE Network : Module : PARAME No.: 1 created : Aug 30 1993 14:51 User : Paul Posi changed : Jun 27 1996 10:00 Comment : X- and Y-axis parameters ====================================================================== 1: ;...

  • Page 211: Power Consumption Of The Modules

    - System voltage: 5 V DC supplies the controller and the modules Maximum load by the modules: • KUAX 680I (part no. 680.420...422.xx) 350 mA • KUAX 680I (as from part no.680.423...nnn.xx) 1000mA • KUAX 680C 1200mA • KDT 680CT 1200mA...

  • Page 212: Load On The Power Supply By The Modules

    Power consumption A.2. Load on the power supply by the modules Each module puts additional load on the voltage supply/sup- plies: Digital input and output modules 8 inputs 680.451.01/04 0.05 ditto with real-time clock 680.451.02 680.451.03/07 16 inputs 680.451.06 8 outputs, 24 V 680.452.01 0.05 base load: 80 plus...

  • Page 213: Order Specifications

    Order specifications B. Order specifications Digital input modules Input module, 24 V DC, 8 inputs ........... 680.451.01 Input module, 24 V DC, 8 inputs, 1 ms ......... 680.451.04 Input module, 24 V DC, 8 inputs, with real-time clock ....680.451.02 Input module, 24 V DC, 16 inputs ..........
  • Page 214 Order specifications Counter modules Counter module, 1 multi-function counter, 24 V, 24 bit ....680.454.01 Counter module, 2 multi-function counters, 24 V, 24 bit ..... 680.454.02 Counter module, 2 multi-function counters, RS 422, 24 bit ..680.454.08 Counter module, 2 event counters, 24 V, 16 bit ......680.454.03 SSI module, 2 generator connectors, 24 bit ........

  • Page 215: Literature List

    Literature list C. Literature list Instruction manual E 308 GB KUAX 680I Profi Control Controller with module slots and PROFIBUS connector Kuhnke GmbH, Malente Instruction manual E 399 GB KUAX 680C Compact Control Controller with built-in I/Os and module slots...
  • Page 216 Literature list C - 2...
  • Page 217 Modules of the 680 Series, Weights 15/8/96 Part number Weigth 680.440.01 89 g 680.440.02 86 g 680.440.03 89 g 680.440.04 127 g 680.440.05 127 g 680.441.01 77 g 680.441.02 79 g 680.441.03 98 g 680.441.04 78 g 680.441.05 78 g 680.441.06 98 g 680.441.07...
  • Page 218 Index Index Symbols 0...10 V 5-5, 5-27, 5-31 danger 2-2 0...1200 °C 5-17 device bus plug 3-1 0...20 mA 5-8 digital input modules 4-4 0...300 °C 5-12 0.3ms 4-18 1ms 4-14, 4-16 defined signals 4-4 signal delay 4-4 absolute angle encoder 6-19 switching thresholds and filters 4-4 addressing with interrupt capability 4-18...
  • Page 219 8-3 TTY (20 mA) 7-4 interrupt modules 3-5 V.24 (RS 232) 7-1 introduction 1-1 mounting 3-2 KUAX 680C NiCrNi 5-17 and KUAX 680I differences 3-7 KUAX 680I order specifications B-1 device size 3-1 output instruction manual 1-3 power supply 3-6...
  • Page 220 Index stepper motor modules 8-1 1 channel 8-13 pneumatic output module 4-29 2 channels 8-15 power consumption A-1 actual position 8-7 power packs 8-1, 9-1 control byte 8-10 power supply 6-20, A-1 control functions 8-10 PROFIBUS modules 7-21 destination position 8-7 project planning error messages 8-12 to be observed 2-3...
  • Page 221 Index with processor stepper motor modules 2 channels 9-13 service modules 5-33, 5-43, 5- actual position 9-6 49, 5-54 control byte 9-10 stepper motor modules control functions 9-10 service modules 5-10 destination position 9-6 supply of digital outputs and error messages 9-12 inputs A-1 example program 9-15 system supply A-1...

This manual is also suitable for:

Kdt 680ctKuax 680c

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