Page 2: Change Description
TS600 Series Programmable Logic Controller Programming and Application Manual Change history Change description Version Change date First release. V1.0 March 2024...
Page 3: Preface
RS485, CAN, EtherCAT interfaces. TS600 series full-scene compact controllers are available in multiple models to meet various needs of users for compact automation equipment, and are suitable for compact design, multi-axis motion control, temperature control, communication networking and other scenarios.
Page 4 TS600 Series Programmable Logic Controller Programming and Application Manual Preface List of related manuals Name Order No. TS600 Series Programmable Logic Controller User Manual 66001-01167 TS600 Series Programmable Logic Controller Command Manual 66001-01290 202403 (V1.0)
Page 5: Table Of Contents
TS600 Series Programmable Logic Controller Programming and Application Manual Contents Contents Preface ..............................i Contents ............................... iii 1 Overview ............................. 1 1.1 Product Overview..................................1 1.2 One-stop Solutions .................................1 2 Quick Start ............................2 2.1 Programming Software .................................2 2.1.1 Software Introduction ..............................2 2.1.2 Computer configuration requirements ........................2...
Page 6 TS600 Series Programmable Logic Controller Programming and Application Manual Contents 3.5.4 Programming Instance ............................19 3.6 Graphic Block Instruction..............................21 3.6.1 Composition of Graphic Blocks ..........................21 3.6.2 Graphic Block Instruction Programming......................22 3.7 System Variables .................................. 23 3.7.1 Overview ..................................23 3.7.2 List of System Variables............................
Page 7 TS600 Series Programmable Logic Controller Programming and Application Manual Contents 7.3.1 Factory Default IP Address............................62 7.3.2 Modify IP Address in Upper Computer Interface ....................62 7.3.3 Modify IP Address with System Variables......................64 7.4 TCP Free Protocol ................................65 7.5 UDP Free Protocol................................
Page 8 TS600 Series Programmable Logic Controller Programming and Application Manual Contents 9.3.7 System Variables..............................101 9.4 Fault and Diagnosis ................................102 9.4.1 Fault Acquisition ..............................102 9.4.2 Fault Code ................................102 10 Ethernet-IP Communication ......................104 10.1 Overview .................................... 104 10.2 Class1 Communication..............................104 10.2.1 Slave Configuration..............................
Page 9 TS600 Series Programmable Logic Controller Programming and Application Manual Contents 12.6.4 Probe Instruction..............................153 12.6.5 Single-step Comparison Instruction ........................ 155 12.6.6 Continuous Comparison Instruction........................ 155 12.6.7 Array Comparison Instruction ........................... 155 12.6.8 Hardware Comparison Output of Encoder Axis..................... 156 12.6.9 Encoder Axis Comparison Interrupt ......................... 156 12.6.10 Modify the Gear Ratio of Encoder Axis......................
Page 10 TS600 Series Programmable Logic Controller Programming and Application Manual Contents 16.1.4 Expansion Module Configuration ........................187 16.2 Basic Operation of Local Expansion Module ......................194 16.2.1 Module Enable............................... 194 16.2.2 Module Disable..............................195 16.2.3 Get Physical Configuration..........................195 17 Subroutine, Library ......................... 197 17.1 Subroutine..................................
Page 11: Overview
RS485, CAN, EtherCAT interfaces. TS600 series full-scene compact controllers are available in multiple models to meet various needs of users for compact automation equipment, and are suitable for compact design, multi-axis motion control, temperature control, communication networking and other scenarios.
Page 12: Quick Start
2.1 Programming Software 2.1.1 Software Introduction Auto Station Pro is the upper computer software of INVT's TS600 Series Small PLC. The user interface of Auto Station Pro programming software is user-friendly, which is convenient for users to configure, program, debug, download and monitor PLC as required.
Page 13: Auto Station Pro Running Interface
TS600 Series Programmable Logic Controller Programming and Application Manual Quick Start 2.1.5 Auto Station Pro Running Interface The main interface of this program basically includes 5 parts: menu bar and toolbar, "Project manger" window, "Instruction tree" window, "Messages output" window and workspace.
Page 14: Ethernet Connection
TS600 Series Programmable Logic Controller Programming and Application Manual Quick Start 2.2.2 Ethernet Connection When users connect PLC via Ethernet, the operations involved may include selecting network port, reading IP address of device, modifying IP address of device and PING function. This section will focus on these operations.
Page 15: Typical Steps Of Programming For Users
2.3 Typical Steps of Programming for Users The user who uses INVT's PLC products for the first time needs to note that 5 steps are required to write and debug a complete user program. Take TS600 series PLC as an example.
Page 16: Establish A Project
TS600 Series Programmable Logic Controller Programming and Application Manual Quick Start 2.4.3 Establish a Project Create a new TS635 project by choosing "Default editor" (ladder diagram, instruction list, sequential function chart), as shown in Fig. 2-3. Fig. 2-3 Auto Station Pro: New Project Interface 2.4.4 Write a Control Program...
Page 17: Compile And Download The Program
TS600 Series Programmable Logic Controller Programming and Application Manual Quick Start Fig. 2-6 Establishing Communication Connection For "PLC", you can choose USB communication or Ethernet communication. To select USB, you need to choose "USB". After selecting the port, click "Connect", as shown in Fig. 2-7.
Page 18 TS600 Series Programmable Logic Controller Programming and Application Manual Quick Start Fig. 2-9 Successfully Compiled Step 2 After successful compilation, you can click the Download button to download. When downloa ding the program, PLC must stop. If PLC is running, the system will prompt with a dialog box, as shown in Fig.
Page 19: Start The Programmable Controller
TS600 Series Programmable Logic Controller Programming and Application Manual Quick Start 2.4.7 Start the Programmable Controller After the application program is downloaded, you must start the programmable controller to run. Select "PLC" > "Start", or toggle the switch of the programmable controller to RUN. After the programmable controller runs normally, close the switch connected to the input point X0, and you can see that the three lights connected to the output points Y0, Y1 and Y2 are lit in turn.
Page 20 TS600 Series Programmable Logic Controller Programming and Application Manual Quick Start Fig. 2-14 Main Interface of Trace Step 3 Click "Add Variables" in Fig. 2-14, and choose the main task from the associated tasks in the "Variable setting" pop-up window. Set variables D0, R0 and VAR_01 to be captured, and then click "OK"...
Page 21: Scan Period Setting
TS600 Series Programmable Logic Controller Programming and Application Manual Quick Start Note: The abscissa and ordinate in the trace state will automatically adjust with the value of variables, and users can also operate with the mouse wheel. Step 5 Right-click on the Trace view to choose single channel display or multi-channel display.
Page 22: Time Setting
TS600 Series Programmable Logic Controller Programming and Application Manual Quick Start 2.7.1 Time Setting Step 1 Double-click or right-click to open "Setting time" in the system block in Project Manager. Fig. 2-19 Open Time Setting Step 2 In the pop-up dialog box, you ca n set the "Scan period" of the program which is default to 0, that is, the non-constant scanning period mode.
Page 23: Basic Knowledge Of Programming
TS600 Series Programmable Logic Controller Programming and Application Manual Basic Knowledge of Programming 3 Basic Knowledge of Programming 3.1 Summary The variable memory structure used in programming includes soft elements, custom variables and system variables. Soft elements: X, Y, M, LM, S, T, C, D, R, V, Z can be directly used in user programs.
Page 24: Word Soft Element
TS600 Series Programmable Logic Controller Programming and Application Manual Basic Knowledge of Programming 3.2.2 Word Soft Element This PLC programming supports word soft elements. The specific type, range, points and related description of word soft elements are shown in the following table.
Page 25: Bit Operation Of Word Element
TS600 Series Programmable Logic Controller Programming and Application Manual Basic Knowledge of Programming 3.2.3 Bit Operation of Word Element Bit operation of word elements can be done by (.). For example, D100.8 means operation shall be done t o the 8th bit on D100 word element, and the lowest bit is the 0th bit.
Page 26: Define Array
TS600 Series Programmable Logic Controller Programming and Application Manual Basic Knowledge of Programming 3.3.3 Define Array Users can define arrays if ARRAY is chosen as the data type when programming. Choose the type and length of array variables in the pop-up dialog box, and click "OK" to define the array, as shown in the following figure.
Page 27: Variable Attribute
TS600 Series Programmable Logic Controller Programming and Application Manual Basic Knowledge of Programming associated in the address field of the variable table. Then, compile the project, and the software will automatically generate the assigned address, as shown in the following figure.
Page 28: Bind Struct Variables To Soft Elements
TS600 Series Programmable Logic Controller Programming and Application Manual Basic Knowledge of Programming 3.4.4 Bind Struct Variables to Soft Elements When binding struct variables to soft elements, fill in the address to be mapped in the address field of the variable table ( note: the address can only be a word element, not a bit element).
Page 29: Complex Combination Type
TS600 Series Programmable Logic Controller Programming and Application Manual Basic Knowledge of Programming index variable, a variable as an array subscript:  Only single word variable INT (16 bits) and double word variable DINT (32 bits) are supported; A ...
Page 30 TS600 Series Programmable Logic Controller Programming and Application Manual Basic Knowledge of Programming Start assigning 123 to i16arr[1], after which each trigger of M300 will assign 321 to each of the following array elements; After startup, the result is as shown in the following figure:...
Page 31: Graphic Block Instruction
TS600 Series Programmable Logic Controller Programming and Application Manual Basic Knowledge of Programming When operating a member variable of struct array, the program is as follows: After M400 is triggered, set stru_arr[2].b_enable, and control stru_arr[4].b_enable , as shown below: Where, the struct is defined as follows: 3.6 Graphic Block Instruction...
Page 32: Graphic Block Instruction Programming
TS600 Series Programmable Logic Controller Programming and Application Manual Basic Knowledge of Programming instruction as an example, and its specific composition is shown in the following figure. Instruction Name No instantiation required Instruction energy flow Axis number Output Side Input...
Page 33: System Variables
TS600 Series Programmable Logic Controller Programming and Application Manual Basic Knowledge of Programming ② You can choose whether to use parameters. If no parameters are used, the instruction input is  default to the parameter values automatically, and the instruction state cannot be obtained when the instruction output is in the program or monitored and debugged.
Page 34: Sys_Com Serial Port Running Information
TS600 Series Programmable Logic Controller Programming and Application Manual Basic Knowledge of Programming Name Data type Description type _sCAN.RxErrCnt Receive error counter _sCAN.TxErrCnt Transmit error counter _sCAN.Protocol Communication protocol Table 3-3 _sCANOpen Interface Information Name Data type Description type _sCANOpen.NodeID...
Page 35 TS600 Series Programmable Logic Controller Programming and Application Manual Basic Knowledge of Programming Name Data type Description type _sFreex.Received DINT Maximum timeout (ms) _sFreex.Timeout DINT Number of bytes transmitted _sFreex.Sendlen Transmit data buffer _sFreex.Sendbuf Receive data buffer _sFreex.Recvbuf Number of bytes received _sFreex.Recvlen...
Page 36: Sys_Ecat Ethercat Running Status Information
TS600 Series Programmable Logic Controller Programming and Application Manual Basic Knowledge of Programming Table 3-9 _stru_COMNnbusx Serial Port Modbus RTU/ASCII Slave Information Name Data type Description type _sNNBusx.SlvId Node number _sNNBusx.Delay N:N additional delay _sNNBusx.RetryTimes Retry times _sNNBusx.Mode N:N network refresh mode...
Page 37 TS600 Series Programmable Logic Controller Programming and Application Manual Basic Knowledge of Programming Name Data type Description type time _sECATMst.StartMaster BOOL Start the master _sECATMst.StopMaster BOOL Stop the master Reset transmit and receive data _sECATMst.ClearFrameCounter BOOL frame counter _sECATMst.DisableMaster BOOL...
Page 38: Sys_Ethernet Ethernet Information
TS600 Series Programmable Logic Controller Programming and Application Manual Basic Knowledge of Programming Name Data type Description type Startup parameter configuration _sECATSlv.SDOErrorCode error count _sECATSlv.CfgErrorCode DINT Configuration error code _sECATSlv.DisableState Configuration state 3.7.6 _SYS_ETHERNET Ethernet Information Table 3-12 _stru_ETH_NET Port Information...
Page 39: Sys_Info Plc Running Information
TS600 Series Programmable Logic Controller Programming and Application Manual Basic Knowledge of Programming Table 3-15 _stru_MBTCP_SLVx ModbusTCP Master Connection — Slave Information Name Data type Description type _sMbTcpSlvx.Connections Number of connections _sMbTcpSlvx.MstIP DINT Master IP address table _sMbTcpSlvx.MstPort DINT Master port number table _sMbTcpSlvx.SlvIP...
Page 40 TS600 Series Programmable Logic Controller Programming and Application Manual Basic Knowledge of Programming Table 3-18 OSM System Monitor Name Data type Description type _sOSM.CPU cpu utilization _sOSM.Memory Memory usage Obtain the execution cycle time of programs and tasks, so as to judge the complexity of program ...
Page 41 TS600 Series Programmable Logic Controller Programming and Application Manual Basic Knowledge of Programming Table 3-22 UsrIntCtl Interrupt Enable Control Name Data type Description type _sUsrIntCtl[0] _UsrIntCtl[67] - _sUsrIntCtl[0].Enable BOOL Enable control bit _sUsrIntCtl[0].IntID Interrupt program ID _sUsrIntCtl[…] _UsrIntCtl[67] - Table 3-23 ExtModule Expansion Module System Variable Related Information...
Page 42: Timer
TS600 Series Programmable Logic Controller Programming and Application Manual Basic Knowledge of Programming Table 3-26 SM System Variables Name Data type Description type BOOL Running monitoring bit BOOL Initial running pulse bit BOOL Power-on flag bit BOOL Error flag bit...
Page 43: Application Example
TS600 Series Programmable Logic Controller Programming and Application Manual Basic Knowledge of Programming value will remain unchanged at 32767. When the timing value is greater than or equal to the preset value (S), the timing coil output of the specified T element is ON.
Page 44: Tof
TS600 Series Programmable Logic Controller Programming and Application Manual Basic Knowledge of Programming 3.8.3 TOF 3.8.3.1 Function description When the energy flow changes from ON → OFF (falling edge), the designated timer T (D) starts timing. When the energy flow is OFF, and the specified timer T has started timing, the timing is continued. Until the timing value is equal to the preset value (S), the timing coil output of the specified T element is OFF, then the timing value will remain at the preset value and will not change.
Page 45 TS600 Series Programmable Logic Controller Programming and Application Manual Basic Knowledge of Programming 3.8.4.3 Sample sequence chart T1 Timing Coil Output 0.5s 0.5s T1=5 T1=5 T1Timing Value T1=0 T1=0 202403 (V1.0)
Page 46: User C Language
TS600 Series Programmable Logic Controller Programming and Application Manual User C Language 4 User C Language 4.1 Overview TS Series PLC supports users to use C language to write functional blocks in programming software, call them where needed, and supports common C language attribute library. Users' C language is called in ladder diagram using CALL instruction, parameters can transfer bit element M, word element D and word element R, read and write element values.
Page 47 TS600 Series Programmable Logic Controller Programming and Application Manual User C Language The supported data types are as follows: Type Description Boolean quantity _INT16U 16-bit unsigned integer _INT16S 16-bit signed integer _INT32U 32-bit unsigned integer _INT32S 32-bit signed integer _FP32...
Page 48 TS600 Series Programmable Logic Controller Programming and Application Manual User C Language Step 4 Use of C language program: User C language functions are called by CALL instructions. For example, for the bubble sort function mentioned above, the following shall be input in ladder diagram: CALL instruction ...
Page 49: Use Case
TS600 Series Programmable Logic Controller Programming and Application Manual User C Language 4.4 Use Case Bit element (M) pass parameter In the above case, setting M101 to 1 will trigger the call of C language function, in which M100 is set to 1, so that M100 element energy flow section can be executed.
Page 50 TS600 Series Programmable Logic Controller Programming and Application Manual User C Language Parameter passing method: when ladder diagram is called When the function parameter is of pointer type, the passed-in element address is the start address of  the C language function parameter.
Page 51 TS600 Series Programmable Logic Controller Programming and Application Manual User C Language Parameter passing method: when ladder diagram is called When the function parameter is of 32-bit pointer type, the passed-in element address is the start  address of the C language function parameter.
Page 52 TS600 Series Programmable Logic Controller Programming and Application Manual User C Language and D10 is passed as a value. Because it is of 32-bit pointer type, when the function is called, f1[0] points to the address corresponding to two elements with address bits D0 and D1, and w1[10] points to the address corresponding to two elements with address bits D20 and D21.
Page 53: Programming Language
TS600 Series Programmable Logic Controller Programming and Application Manual Programming Language 5 Programming Language There are three programming languages: ladder diagram (LAD), instruction list (IL) and sequential function chart (SFC). 5.1 Ladder Diagram (LAD) 5.1.1 Concept of Ladder Diagram Ladder diagram is a common graphical PLC programming language similar to electrical (relay) control diagram.
Page 54: Energy Flow
TS600 Series Programmable Logic Controller Programming and Application Manual Programming Language 5.1.3 Energy Flow Energy flow is a very important concept in a ladder diagram program. Energy flow is used to drive coil elements and application instructions, and is similar to the output of drive coil and the control current executed by mechanism in an electrical control diagram.
Page 55: Sequential Function Chart (Sfc)
TS600 Series Programmable Logic Controller Programming and Application Manual Programming Language 5.3 Sequential Function Chart (SFC) Sequential function chart is a graphical user program framework design language, which is usually used to realize sequential control function. Sequential control refers to a control process that can be divided into multiple procedures (processing steps) and processed according to a certain working sequence.
Page 56: Serial Communication
This communication mode uses less data lines, which can save communication cost in long-distance communication. This chapter introduces the serial communication function of TS600 Series Small PLC in detail, including communication resources and communication protocol, and illustrations with examples.
Page 57: Power Terminal Wiring
6.4 Serial Networking Connection The TS600 Series RS485 interface has a built-in 120 Ω terminal resistor which can be selected with a toggle switch. RS485 bus networking supports up to 31 nodes with the address range of 1 -247, and supports broadcast.
Page 58: Configuration
TS600 Series Programmable Logic Controller Programming and Application Manual Serial Communication 6.5 232 Configuration The following figure shows the CAN-232 expansion module and its interface definition. Port type Definition Description SD card slot Insert MicroSD card here Used for SD card firmware upgrade...
Page 59: Freeport Communication Protocol
TS600 Series Programmable Logic Controller Programming and Application Manual Serial Communication 6.6 Freeport Communication Protocol 6.6.1 Brief Introduction Freeport protocol is a communication protocol mode in a user -defined communication data format, which can transmit and receive serial data by instructions. In this mode, PLC can be used to communicate with devices in various custom formats, such as frequency converters, bar code scanners, instruments and other intelligent devices using freeport communication protocols.
Page 60: Modbus-Rtu/Ascii Master
Instruction Manual for detailed use. 6.7 Modbus-RTU/ASCII Master 6.7.1 Brief Introduction TS600 Series Small PLC supports two RS485 ModbusRTU/ASCII master or slave. 6.7.2 Serial Port Setting Step 1 Double-click the corresponding "COM" option in the system block to enter the communication port setting interface.
Page 61: Master Setting
TS600 Series Programmable Logic Controller Programming and Application Manual Serial Communication Step 2 Select "ModbusRTU master" or "ModbusASCII master" as required in the pop-up window "Protocol setting". The configurable contents are as follows: Options Setting Content Note This allows users to use bit elements to...
Page 62 TS600 Series Programmable Logic Controller Programming and Application Manual Serial Communication Step 2 Add configuration, set the slave number communicating with the master, and up to 248 slaves can be configured (0–247). After configuration, the slaves are as shown in the following figure.
Page 63: Master Configuration Table
TS600 Series Programmable Logic Controller Programming and Application Manual Serial Communication 6.7.4 Master Configuration Table This interface is used to configure the detailed configuration information of Modbus master node. Details of the configuration table are as follows:  Options Setting Content...
Page 64: Modbus-Rtu/Ascii Slave
D, R 6.8 Modbus-RTU/ASCII Slave 6.8.1 Brief Introduction TS600 Series Small PLC supports two RS485 ModbusRTU/ASCII master or slave. 6.8.2 Slave Settings Double-click the corresponding "COM" option in the system block to enter the communication port setting interface. Select "ModbusRTU slave" or "ModbusASCII slave" as required in the pop-up window "Protocol setting".
Page 65: Slave Related Information
Node number 1–247 Slave node ID Note: After the configuration is completed, download it to TS600 series small PLC. 6.8.3 Slave Related Information 6.8.3.1 Function Code and Element List When working as a slave, the supported function codes and operable elements are as follows:...
Page 66 TS600 Series Programmable Logic Controller Programming and Application Manual Serial Communication 6.8.3.2 Address Binding Table As a slave, the accessible Modbus protocol addresses are as follows: Supported Total function Element Type Protocol address Description quantity codes (Decimal) M0– 01, 05, and M0–M999: not saved in...
Page 67: Modbus-Rtu Communication Application Example
TS600 Series Programmable Logic Controller Programming and Application Manual Serial Communication Note: T and C have word elements and bit elements. 6.8.3.3 Processing of doubleword elements The current count value of C element is a word element or a doubleword element, and C200 –C255 are doubleword elements.
Page 68: Communication Parameter Configuration
TS600 Series Programmable Logic Controller Programming and Application Manual Serial Communication 6.9.2.2 Communication parameter configuration Step 1 Right-click "COM1" > "Add configuration", and configure the slave numbered to 1 in the pop-up box, and it is the target with which the communication is to be established.
Page 69: Enable Slave
TS600 Series Programmable Logic Controller Programming and Application Manual Serial Communication Step 4 Configure the above information and download it to "TS635 PLC A" after confirmation. 6.9.3 Enable Slave Step 1 Double-click "COM1" in the system block, choose "ModbusRTU slave" > "Baud rate 19200， 8 data bit, even check, 1 stop bit", and set the slave number to 1.
Page 70: Example Phenomenon
TS600 Series Programmable Logic Controller Programming and Application Manual Serial Communication 6.9.4 Example Phenomenon In the element monitoring table, it can be observed that D0 in two PLCs is added by 1 every second. 202403 (V1.0)
Page 71: Ethernet Communication
It has the advantages of low cost, high communication rate and strong anti-interference. This chapter introduces the Ethernet communication function of TS600 Series Small PLC in detail, including communication resources and communication protocol, and illustrations with examples.
Page 72: Ethernet Wiring Example
TS600 Series Programmable Logic Controller Programming and Application Manual Ethernet Communication 7.2 Ethernet Wiring Example invt In the example figure, Ethernet 1 is connected to Auto Station Pro in the upper computer to upload/download programs, and Ethernet 2 is connected to HMI for data display.
Page 73 TS600 Series Programmable Logic Controller Programming and Application Manual Ethernet Communication Modify IP address via Ethernet Step 1 Choose "Tool" > "PLC communication" in the toolbar. Step 2 Choose Ethernet in "PLC", and because the example physical interface is connected to Ethernet 2, so fill in the IP address of PLC network port 2, 192.168.2.10, in "Peer-to-peer IP address", and then...
Page 74: Modify Ip Address With System Variables
TS600 Series Programmable Logic Controller Programming and Application Manual Ethernet Communication Modify IP After establishing a connection with PLC via USB or Ether net, double-click "Ethernet" in Project Manager to view or configure Ethernet-related information. Reset IP: Restore all parameters of the two network ports to the factory default values.
Page 75: Tcp Free Protocol
TCP protocol is a connection-oriented reliable communication protocol at transport layer based on byte stream. TS600 Series Small PLC provides the relevant TCP instructions to transmit and receive TCP protocol data. For specific usage, please refer to TCP-related instructions in the chapter of communication instructions of Instruction Manual.
Page 76: Modbus-Tcp Master Configuration Table
TS600 Series Programmable Logic Controller Programming and Application Manual Ethernet Communication After configuration, the slaves are as shown in the following figure Step 3 Double-click "Ethernet1 192.168.1.11:502" to open the Modbus Master Configuration Table, as detailed in 7.6.3 Modbus-TCP Master Configuration Table.
Page 77 TS600 Series Programmable Logic Controller Programming and Application Manual Ethernet Communication Options Setting Content Note elements box is checked Number retransmissions when Retry times 0–5 communication fails "Loop" and "Trigger" modes are Loop: Cyclic loop execution. Trigger: Bit Trigger mode supported.
Page 78: Modbus-Tcp Slave
ModbusTCP slave does not need to set slave number, and all slave numbers can communicate with it.  After the configuration is completed, download it to TS600 Series Small PLC.  Other devices can communicate with TS635 using the IP address of the corresponding Ethernet port ...
Page 79: Slave Related Information
TS600 Series Programmable Logic Controller Programming and Application Manual Ethernet Communication 7.7.3 Slave Related Information 7.7.3.1 Function Code and Element List When working as a slave, the supported function codes and operable elements are as follows: Function code Name Type of operable elements...
Page 80: Supported Function Codes
TS600 Series Programmable Logic Controller Programming and Application Manual Ethernet Communication Supported Total function Element Type Protocol address Description quantity codes (Decimal) Accuracy 1ms: T300–  T399, 100 points 16-bit ordinary CTUD:  Word 0xE200–0xE337(57856– 03, 06, and C0–C199, 200 points C0–C255...
Page 81: Modbus-Tcp Communication Application Example
TS600 Series Programmable Logic Controller Programming and Application Manual Ethernet Communication 7.8 Modbus-TCP Communication Application Example 7.8.1 Brief Introduction In this example, two sets of TS635 are configured to communicate as Modbus TCP master and slave respectively. The master uses Ethernet 1 and the slave uses Ethernet 2, which are connected by network cables.
Page 82: Modbus-Tcp Slave Settings
TS600 Series Programmable Logic Controller Programming and Application Manual Ethernet Communication Step 2 Double-click "[0] Ethernet 1 192.168.1.11:502" to open the ModbusTCP Master Configuration Table. Step 3 Configure the above communication parameter and download it to "TS635 PLC A" after confirmation.
Page 83: Example Phenomenon
TS600 Series Programmable Logic Controller Programming and Application Manual Ethernet Communication 7.8.3.2 Enable TCP Slave Step 1 Double-click the corresponding "Ethernet" option in the system block to enter the communication port setting interface. Check "ModbusTCP slave" in the pop-up window "Protocol setting".
Page 84: Can Communication
CAN Communication 8 CAN Communication 8.1 Overview TS600 Series PLC realizes CAN communication networking through CAN-232 or CAN-2*RJ45 expansion card, and supports CANopen communication protocol and up to 30 slaves. 8.2 Hardware Interface Take CAN-232 expansion card as an example to explain the hardware of CAN port.
Page 85: Can Network
CAN bus terminal matching resistors of 120 ohms need to be added at both ends of the bus. The terminal resistance of TS600 Series expansion card needs to be set with a toggle switch.
Page 86: Canopen Communication Instruction
8.4.2 CANopen Axis Control Instruction List The list of CANopen axis control instructions supported by TS600 Series PLC are as follows. Please refer to TS600 Series PLC Instruction Manual for detailed usage of relevant instructions. Table 8-2 Instruction List...
Page 87: Explanation Of Canopen-Related Terms
TS600 Series Programmable Logic Controller Programming and Application Manual CAN Communication 8.4.3 Explanation of CANopen-related Terms NMT: Network Management  Network management services, application layer management, network status management and node ID allocation management. The service mode is master-slave communication mode: In CAN network, there can only be one NMT master and one or more slaves.
Page 88 TS600 Series Programmable Logic Controller Programming and Application Manual CAN Communication Step 2 Double-click "CAN" in "Setting" to pop up the following window. Step 3 Check to enable CANopen, and set the node number and baud rate as required, and then click "OK".
Page 89: Master Configuration
TS600 Series Programmable Logic Controller Programming and Application Manual CAN Communication Step 5 Double-click the device list to add the CANopen slave. Step 6 If the slave device is not in the list, right-click on the CANopen device list and click to import EDS file (available from the device vendor).
Page 90 TS600 Series Programmable Logic Controller Programming and Application Manual CAN Communication Network management "Node ID": Set the network master number.  When the node number is the same as the node number of the PLC itself, the PLC is initialized as ...
Page 91: Slave Configuration
TS600 Series Programmable Logic Controller Programming and Application Manual CAN Communication "Production time (ms)": The cycle period of sending heartbeat, default to 300 (unit: ms).  Note: The default heartbeat monitoring consumption time of the master is 2.5 times the heartbeat production time.
Page 92 TS600 Series Programmable Logic Controller Programming and Application Manual CAN Communication 8.5.2.1 General Settings After checking "Enabling experts", the window as shown on the right below appears. General "Node ID": The slave node number to be configured.  "Enabling experts": Checking this function will display detailed slave configuration. Not checked by ...
Page 93: Pdo Enabling
TS600 Series Programmable Logic Controller Programming and Application Manual CAN Communication in the configuration process, but it is not checked by default. Check on restart "Check suppliers, Check product ID, Check version": When checking the corresponding function, the  relevant check will be carried out before starting slave configuration. If the check fails, the node cannot be started.
Page 94 TS600 Series Programmable Logic Controller Programming and Application Manual CAN Communication COB-ID  ID number used for PDO transmission. Transmission type  Data Transmission Type Data Effective Conditions Conditions does take effect Data changes immediately after receiving Acyclic-synchronous synchronization frame...
Page 95: Service Data Object (Reserved)
TS600 Series Programmable Logic Controller Programming and Application Manual CAN Communication 8.5.6 Service Data Object (reserved) 8.5.7 Online Debugging Function (reserved) 8.5.8 I/O Mapping The I/O mapping option interface appears as follows. This tab is used to set the data communication mapping relationship between master and slave PDO. If Automatic Allocation is not checked in the master settings, t he user can double-click one of the mappings to set it, as shown in the following figure.
Page 96: Device Information
TS600 Series Programmable Logic Controller Programming and Application Manual CAN Communication 8.5.9 Device Information The "Device information" tab has an interface as shown below: The device information of the slave is obtained from the EDS file provided by the device manufacturer.
Page 97: Fault Code List
TS600 Series Programmable Logic Controller Programming and Application Manual CAN Communication 8.6.2 Fault Code List 8.6.2.1 SDO Error Code Interruption Interruption Code function description Code function description code code Attempts to write information to 05030000 Triggering bit not alternated 06010002...
Page 98 TS600 Series Programmable Logic Controller Programming and Application Manual CAN Communication Emergency Emergency Description Description Error Code Error Code 23xx Device output 70xx Auxiliary device error 30xx Voltage error 80xx Monitor error 31xx Main power supply 81xx Communication 32xx Internal equipment...
Page 99: Ethercat Communication
Industrial Ethernet Fieldbus EtherCAT, or log in to official website of EtherCAT Technical Committee at https://www.EtherCAT.org. TS600 Series supports standard EtherCAT interface (1-way RJ45 interface), up to 72 EtherCAT slaves, adopts linear topology structure, and the minimum EtherCAT fieldbus cycle can be set to 250 μs.
Page 100: Scanning Device
TS600 Series Programmable Logic Controller Programming and Application Manual EtherCAT Communication Step 2 Click "Import configuration", and in the pop-up dia log box, select the XML file to be added and import it. Step 3 The software must be restarted for the newly imported xml to take effect. If multiple devices are required to be imported, you can repeat step 2 to import them all before restarting the software.
Page 101: Start-Stop & Disable & Enable
TS600 Series Programmable Logic Controller Programming and Application Manual EtherCAT Communication "Recycle": EtherCAT data frame transmission interval and cycle time of EtherCAT task.  "Synchronization offset": Percentage of the relative offset of the EtherCAT task relative to  Sync0 interrupt of the slave.
Page 102 TS600 Series Programmable Logic Controller Programming and Application Manual EtherCAT Communication System variables Data type Function As long as there is a slave which has normal physica l connection with the master, the variable becomes ON, otherwise it is OFF.
Page 103: Slave Configuration
TS600 Series Programmable Logic Controller Programming and Application Manual EtherCAT Communication System variables Data type Function This variable is 1 when all slaves in the configuration are physically connected, otherwise it is 0 DisableState Master disability state 9.3 Slave Configuration 9.3.1 General Settings...
Page 104: Process Data
TS600 Series Programmable Logic Controller Programming and Application Manual EtherCAT Communication Site alias setting  Right-click on the slave and click "Rename" to rename the slave 9.3.2 Process Data The process data interface is used to edit PDO, as shown in the following figure.
Page 105: Startup Parameters
TS600 Series Programmable Logic Controller Programming and Application Manual EtherCAT Communication When a slave has multiple groups of PDOs, there may be mutual exclusion between these groups. For example, EC-TX508. Only one group can be selected at a time. This mutual exclusion relationship is different from slave to slave. For example, FK1100-ECT-Copuler allows multiple groups to be checked.
Page 106 TS600 Series Programmable Logic Controller Programming and Application Manual EtherCAT Communication Description ① PDO configuration parameters ② 402 protocol parameters ③ Manufacturer parameters In this interface, users can add startup parameters according to their needs, such as adding the object dictionary 0x6099: 0x01 and modifying the value to 100.
Page 107: Io Function Mapping
TS600 Series Programmable Logic Controller Programming and Application Manual EtherCAT Communication 9.3.4 IO Function Mapping Only by linking PDO data to PLC internal variables can EtherCAT slave blocks be controlled by operating variables. The I/O function mapping interface is as shown in the following figure.
Page 108 TS600 Series Programmable Logic Controller Programming and Application Manual EtherCAT Communication Step 3 After the association is completed, the interface is as shown in the following figure. 9.3.4.2 Mapping Rule There are only six basic data types of element variables: BOOL, INT, DINT, WORD, DWORD and REAL, while there are many data types of PDO variables in EtherCAT slave.
Page 109: Start-Stop/Disable/Enable
TS600 Series Programmable Logic Controller Programming and Application Manual EtherCAT Communication EtherCAT Slave Type Bit Length Mapping rule BOOL [8]: 8-bit BOOL array  INTBOOL [16]: 16-bit BOOL array  UINT INTBOOL [16]: 16-bit BOOL array  INT: The lower eight digits are valid and the ...
Page 110: Function Description
TS600 Series Programmable Logic Controller Programming and Application Manual EtherCAT Communication System variables Data type Function Description ON: Disable Enable Master disability state 0: Reserved DisableState 1: Enable 2: Disable The method is as follows:  When PLC is powered on and started, it initializes the DisableEnable variable according to the ...
Page 111: System Variables
TS600 Series Programmable Logic Controller Programming and Application Manual EtherCAT Communication 3. Dow nload the project to PLC, and the tw o DA200 slaves are disabled after starting. 9.3.7 System Variables The system variables associated with the EtherCAT slaves are shown in the following table:...
Page 112: Fault And Diagnosis
TS600 Series Programmable Logic Controller Programming and Application Manual EtherCAT Communication 9.4 Fault and Diagnosis 9.4.1 Fault Acquisition EtherCAT instruction failure can obtain fault codes through ErrorID of the instruction. The fault of EtherCAT fieldbus can be obtained through the system variable _sCurErrLst.
Page 113 TS600 Series Programmable Logic Controller Programming and Application Manual EtherCAT Communication Sub-err Main error code Class Cause Solutions or code number slaves 0x09 Error exceeds the maximum limit 0x0A Error Wrong configuration type Configured number does not 0x0B Error match...
Page 114: Ethernet-Ip Communication
TS600 Series Programmable Logic Controller Programming and Application Manual Ethernet-IP Communication 10 Ethernet-IP Communication 10.1 Overview The end opening the connection is the EtherNet/IP master, and the other end is the EtherNet/IP slave, as shown in the following figure. Scanner...
Page 115 TS600 Series Programmable Logic Controller Programming and Application Manual Ethernet-IP Communication Step 2 Configure connection parameters, click "Setting" > "Ethernet/IP" option, choose "Ethernet/IP Adapter" configuration option to enter the configuration interface, and select to add connections as needed, and up to 16 Connection can be added, 16 inputs and 16 outputs, totaling 32 connections.
Page 116: Use Example Of Slave
TS600 Series Programmable Logic Controller Programming and Application Manual Ethernet-IP Communication after the element option is displayed at the upper left, click "OK" to complete IO mapping of dataset. 10.2.2 Use Example of Slave 10.2.2.1 Use of Connection Realization function: The master uses KV-8000, and the slave uses TS635, to complete O > T transmission of 100 bytes and T >...
Page 117 TS600 Series Programmable Logic Controller Programming and Application Manual Ethernet-IP Communication Step 3 In "EtherNet/IP setting",click on the device list, select TS600, and double-click it to generate a TS600 slave. Step 4 Configure the connect parameters W0-W31 as inputs and W32-W63 as outputs in "EtherNet/IP setting"...
Page 118 TS600 Series Programmable Logic Controller Programming and Application Manual Ethernet-IP Communication Slave operating steps:  Step 1 Configure the Ethernet parameters of Network Port 2 with IP of 192.168.2.10. Step 2 In "EtherNet/IP setting", configure connection1, 0 > T size to 100 bytes, and T > 0 size to 100 bytes.
Page 119 TS600 Series Programmable Logic Controller Programming and Application Manual Ethernet-IP Communication Test steps:  Step 1 Connect Keyence network to TS635 network port 2. Step 2 Modify the value of W32-W63 of Keyence to change with the value of D0-D49 in TS635.
Page 120: Motion Control
TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control 11 Motion Control 11.1 Brief Introduction of Motion Control Axis 11.1.1 Overview 11.1.1.1 Basic Composition and Control Logic In a motion control system, the object of motion control is called axis. An axis is the bridge between driver and PLC instructions.
Page 121 TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control which is executed according to the second absolute positioning parameter, and the first instruction is interrupted. After the EtherCAT task obtains the target position of 200, it starts to execute the absolute positioning algorithm, and sets the completion flag after the positioning is completed.
Page 122: Configuration Interface
TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control Axis Structure Function instruction control governance Axis control instructions are divided into management class (such as MC_Power), motion class (such as MC_Jog) and state class (such as MC_ReadStatus) 11.1.1.4 Configuration Interface...
Page 123 TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control MC_MoveLinear MC_MoveCircular2D MC_MoveCircular3D MC_CamIn MC_GearIn MC_GearInPos MC_CombineAxes MC_CamOut MC_MoveVelovity MC_GearOut SyncMotion MC_MoveVelocityCSV MC_MoveAbsolute MC_SyncMoveVelocity MC_MoveRelative MC_TorqueControl MC_Halt MC_SyncTorqueControl MC_MoveFeed MC_Jog MC_MoveBuffer DiscreteMotion ContinuousMotion MC_ImmediateStop MC_Stop Position complete Stopping ErrorStop...
Page 124: Unit Of Axis
TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control 11.1.3 Unit of Axis Two units are used in the axis structure, namely Unit and pulse unit. Unit  The units of measurement such as millimeters, centimeters and angles used on the instruction ...
Page 125: Axis System Variable
TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control Fieldbus servo Classification Content Local pulse axis axis Positive limit ✓ ✓ Negative limit ✓ ✓ Z Signal ✓ × Homing direction ✓ ✓ Home input detection direction ✓...
Page 126 TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control Name Data type Function iHWNLimitID Hardware negative limit terminal ID bTouchProbeID1 BOOL Probe terminal 1 enable signal iTouchProbeID1 Probe terminal 1 ID bTouchProbeID2 BOOL Probe terminal 2 enable signal...
Page 127 TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control Name Data type Function bImmediateStop BOOL Immediate stop bSetPosition BOOL Set current position bHome BOOL Home bJogP BOOL Jog+ bJogN BOOL Jog- bMoveAbs BOOL Absolute position bMoveRel BOOL Relative position...
Page 128: Axis Instruction List
TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control 11.1.6 Axis Instruction List Instruction Name MC_Power Axis power-on instruction MC_Reset Axis reset instruction MC_ReadStatus Axis read status instruction MC_ReadPosition Read actual position instruction MC_ReadVelocity Read actual velocity instruction...
Page 129: Motion Control Axis Setting Steps
TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control Instruction Name MC_GroupHalt Axis group halt instruction MC_GroupImmediateStop Axis group immediate stop instruction MC_ReadGroupVelocity Read axis group resultant velocity instruction 11.2 Motion Control Axis Setting Steps 11.2.1 Create a New Project Document This routine will create a new fieldbus servo axis and a local pulse axis, and realize simple axis control through instructions.
Page 130 TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control Step 3 After the project is successfully created, click "Instruction tree". Instruction tree instruction  Motion control instruction of instruction tree  Step 4 Edit in the main interface after the project is successfully created.
Page 131: Create Project Configuration
TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control Description Instruction tree "Messages output" window 11.2.2 Create Project Configuration There are two ways to realize servo axis control, one is pulse control, the other is fieldbus control. The configuration methods of the two controls are explained below.
Page 132 TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control Step 4 Left double-click to select "INVT_DA200_261 device". Note: If there is no option of INVT_DA200_261, select to import the XML file of DA200. Step 5 The DA200 servo drive slave is created, and the EtherCAT add device interface is closed.
Page 133 TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control Step 6 Choose "AXIS_0" and the output device "INVT_DA200_261" to associate the axis AXIS_0 with the INVT_DA200_261 servo drive. Pulse control  Step 1 Left-click to choose "Motion control axes" and right-click on "Add axis".
Page 134: Set Axis Parameters
TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control Step 4 The configuration of local pulse axis and fieldbus servo axis is completed. 11.2.3 Set Axis Parameters 11.2.3.1 Fieldbus Servo Axis Basic setting interface of fieldbus servo axis ...
Page 135 TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control Fieldbus servo axis mode setting interface  Choose the way to home  Note: The drop-down box selection of home signal, Z signal, positive limit, negative limit and homing mode is temporarily invalid.
Page 136 TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control 11.2.3.2 Local Pulse Axis Basic setting interface of local pulse axis  Local pulse axis mode setting interface  Local pulse axis homing mode setting  202403 (V1.0)
Page 137: Write A Program
TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control 11.2.4 Write a Program Call the instruction MC_Power Call the instruction MC_MoveRelative Call the MC_ReadVelocity function block Call the MC_ReadPosition function block 202403 (V1.0)
Page 138: Download Project
TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control 11.2.5 Download Project After the program is compiled, please download it according to the following steps: Step 1 Download Step 2 Recompile Step 3 Download The information output window shows that the execution is correct.
Page 139 TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control 11.2.6.2 PLC Program Control Step 1 Power-on control Set M0 element to ON, observe whether the output Error of MC_Power function block of axis 0 and axis 1 is FALSE, if so, it means that the enable is successful;...
Page 140 TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control Step 3 Relative position control Call the MC_MoveRelative function block, set the parameters as follows, and set the M1 element to ON. While the MC_MoveRelative function block is running: After the MC_MoveRelative function block runs: 202403 (V1.0)
Page 141: Motion Control Axis Configuration
TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control There are two ways to observe the actual running distance of Axis 0 and Axis 1: Mode 1: Through online debugging. Mode 2: By reading the return value of the function block.
Page 142: Basic Settings
TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control Item Local pulse output EtherCAT fieldbus driver It supports three ways of output, namely Pulse output "pulse + direction", "positive and negative No setting is required. form pulse" and "quadrature encoded pulse".
Page 143 ）（） Take the 23-bit encoder of INVT as an example, set the parameters as follows: Number of pulses for one revolution of motor/encoder=8388608 The amount of movement when the worktable rotates for one revolution=1 When the target displacement given by the relative positioning instruction is 10, the actual pulse amount sent by the motion control axis is 83886080, and the motor rotates 10 revolutions at this time.
Page 144: Mode Setting
TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control Where, (1) is a servo motor, (3) is a workpiece, (4) is the denominator of gear ratio, and (5) is the numerator of gear ratio. （）（）...
Page 145: Mode Setting
TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control 11.3.3.2 Mode Setting According to the actual working conditions, the motion control axis can be set to linear mode and rotation mode. Linear mode  Linear mode is usually used in devices with mechanical action range in X-Y linear coordinate ...
Page 146: Software Limit
TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control There is no soft limit in rotation mode.  Phase positioning processing: If the target displacement is greater than 0, move the distance of  target displacement clockwise, and if the target displacement is less than 0, move the distance of target displacement counterclockwise.
Page 147: Axis Speed Setting
TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control If the software limit is effective, the absolute position of the axis will be detected at all times during the operation of the axis when T-type deceleration is made from the current speed to 0 according to the set limit deceleration.
Page 148 TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control determined by the relevant parameters of servo drive. Pulse homing  Home signal configuration Choose the mode setting option for Axis 1 and select the corresponding signal as shown below...
Page 149: Online Monitoring
TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control 11.4 Online Monitoring The axis state is obtained by means of instructions, such as reading the relevant information of the axis through state instructions like MC_ReadStatus, MC_ReadPosition and MC_ReadVelocity.
Page 150: Axis Control Function
TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control 11.5 Axis Control Function 11.5.1 Overview Some basic servo controls can be realized through online debugging function, such as Enable, Stop, Jog, Point Control and other functions. After confirming that the basic operation is normal, complex log ic control can be realized through motion control instructions.
Page 151 TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control Step 3 Observe axis state. Step 4 Trigger corresponding control instructions, such as homing, JOG, absolute positioning, relative positioning, etc. The options in the figure are described as follows:...
Page 152: Instruction Control Rule
TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control 11.5.3 Instruction Control Rule In PLC, the axis motion can be controlled by instructions, and the rules for calling instructions are as follows: Instructions do not need to be instantiated.
Page 153 TS600 Series Programmable Logic Controller Programming and Application Manual Motion Control To get the fault of the EtherCAT fieldbus driver, 0x603F must be configured in the PDO mapping and associated with the axis. It can be obtained in the background through "Axis error" in the "Online debugging"...
Page 154: High-Speed Counter
TS600 Series Programmable Logic Controller Programming and Application Manual High-speed Counter 12 High-speed Counter 12.1 Brief Introduction of High-speed Counter Axis In AutoStation Pro, counters are managed in the form of encoder axis. After the counter is associated with the axis, they are collectively called counter axis or encoder axis. A total of 8-axis 32-bit high-speed counters are supported.
Page 155: Counter Axis Unit And Conversion
TS600 Series Programmable Logic Controller Programming and Application Manual High-speed Counter 12.3 Counter Axis Unit and Conversion High-speed counters use pulse unit when decoding encoder signals, while counter instructions use common measurement units such as mm, °, inch, etc., which are called Unit. The number of pulses can be converted into Unit by conversion, which can be defined as device-specific units (cm, mm, revolution, etc.) according...
Page 156: Set The Working Mode
TS600 Series Programmable Logic Controller Programming and Application Manual High-speed Counter With variable device  10,000 pulses, gear ratio 4:5 (cm/mm/r, to be decided by the user as per the actual configuration). 12.4 Set the Working Mode 12.4.1 Linear mode The position of the counter axis changes between the negative limit value and the positive limit value, and after the position of the counter axis reaches the limit value, the homodromous pulse is continuous ly input;...
Page 157 TS600 Series Programmable Logic Controller Programming and Application Manual High-speed Counter count value does not increase. Axis Position Positive Limit Negative limit Count up Negative Count up Positive Count down Overflow Overflow 12.4.1.1 Positive Pulse Counting In linear mode, input positive pulse, after the counter axis position counts up to the limit value, continue to input positive pulse, set the counter axis positive limit signal to 1, the counter axis position value remains unchanged.
Page 158: Selection Mode
TS600 Series Programmable Logic Controller Programming and Application Manual High-speed Counter Axis Position Negative Limit Forward Pulse Negative Pulse Positive Limit Signal 12.4.2 Selection Mode The position of the counter axis changes cyclically in the rotation cycle. When the counter counts up, the position of the counter axis reaches the maximum value of the rotation cycle and then becomes 0.
Page 159: Counting Mode
TS600 Series Programmable Logic Controller Programming and Application Manual High-speed Counter 12.5.2 Counting Mode The local encoder axis supports multiple signal counting modes, A/B phase (1/2/4 frequency doubling), CW/CCW, pulse + direction, single phase counting. Signal source: According to different counting modes, different signal sources can be selected.
Page 160 TS600 Series Programmable Logic Controller Programming and Application Manual High-speed Counter Pulse Count +1 -1 -1 In the A/B phase 4 frequency doubling mode, the rising/falling edge of the A-phase pulse and B-phase pulse is counted, as shown in the following figure.
Page 161: Hardware Reset Settings
TS600 Series Programmable Logic Controller Programming and Application Manual High-speed Counter Pluse Pulse Count 12.5.2.4 Single-phase Counting In single-phase counting mode, the high-speed counter counts up the pulse signal, as shown in the following figure. Pulse Pulse Count 12.5.3 Hardware Reset Settings Check hardware reset enable, configure external trigger IO（X0–X7，X10–X17）, configure trigger edge mode,...
Page 162: Comparison Output Settings
TS600 Series Programmable Logic Controller Programming and Application Manual High-speed Counter X17), and choose external hardware trigger by ENC_Preset instruction, so that the preset value of the counter can be set by external hardware signal. 12.5.6 Comparison Output Settings The comparison output function can directly output through hardware instantaneously, and after reaching the comparison value, it can respond to the output within 5 microseconds.
Page 163: Axis Position Preset Instruction
TS600 Series Programmable Logic Controller Programming and Application Manual High-speed Counter Invert counting direction control in the instruction, 0: count in the default direction, 1: count in the direction opposite to the actual counting direction. The configuration parameter of the instruction is that: Enable rising edge is valid, while changing the input parameters in other hold periods is invalid.
Page 164 TS600 Series Programmable Logic Controller Programming and Application Manual High-speed Counter The parameter ProbeID indicates the probe number used by the encoder axis as follows: ProbeID Definition It indicates the use of probe 1 It indicates the use of probe 2 The parameter TriggerEdge indicates the probe trigger edge setting, the rising edge trigger position is latched in PosPosition, and the falling edge trigger position is latched in NegPosition.
Page 165: Single-Step Comparison Instruction
TS600 Series Programmable Logic Controller Programming and Application Manual High-speed Counter 12.6.5 Single-step Comparison Instruction Instruction ENC_Compare can compare the encoder axis with a single position, and when the encoder axis reached the comparison position, the completion signal is output.
Page 166: Hardware Comparison Output Of Encoder Axis
TS600 Series Programmable Logic Controller Programming and Application Manual High-speed Counter mArray in the instruction sets the array to be compared. For example, to define the array Ar[10]; If the  comparison starts from Array 0, fill in Ar[0], and if the comparison starts from Array 2, fill in Ar[2].
Page 167: Modify The Gear Ratio Of Encoder Axis
TS600 Series Programmable Logic Controller Programming and Application Manual High-speed Counter Step 2 Write interrupt service function (INT_1) Step 3 Configure the corresponding Interrupt number for Interrupt in the instruction ENC_Compare and start IE Step 4 When the encoder position value is equal to the comparison value, the interrupt service function INT_1 is triggered to light up Y0 12.6.10 Modify the Gear Ratio of Encoder Axis...
Page 168: Modify Mode/Limit Value Of Encoder Axis
TS600 Series Programmable Logic Controller Programming and Application Manual High-speed Counter Note: This instruction directly modifies the system configuration parameters. When fixed prior to application, it is necessary to close other application instructions of the encoder axis. After closing, the system parameters can be modified.
Page 169: Interpolation Function
TS600 Series Programmable Logic Controller Programming and Application Manual Interpolation Function 13 Interpolation Function 13.1 Brief Introduction of Interpolation Function 13.1.1 Basic Introduction Interpolation adopts space rectangular coordinate system, supports linear interpolation and plane arc interpolation, and the interpolation function is realized by means of axis groups. Up to 8 axis groups can be added at the same time, and each axis group can control up to 4 motion control axes (fieldbus servo axis or local pulse axis), including X, Y and Z coordinate axes and an auxiliary axis.
Page 170: Upper Computer Axis Group Configuration Interface Configuration
TS600 Series Programmable Logic Controller Programming and Application Manual Interpolation Function Instruction Chinese Instruction Name MC_GroupHalt Interpolation halt MC_GroupSetOverRide Interpolation on-line speed regulation 13.1.3 Upper Computer Axis Group Configuration Interface Configuration Step 1 In the PLC project, choose "setting" > "AXISGROUP", right-click on "AXISGROUP" to select to add an axis group, and then right-click on the axis group to open it, as shown in the following figure.
Page 171: Online Monitoring
TS600 Series Programmable Logic Controller Programming and Application Manual Interpolation Function 13.1.4 Online Monitoring On the "Online monitoring" page, observe the online parameters of axis groups, which are divided into single axis monitoring in the upper part of axis groups and axis group monitoring in the lower part.
Page 172: Interpolation Operation
TS600 Series Programmable Logic Controller Programming and Application Manual Interpolation Function Name Parameter Parameter description 4: There is an axis in the single axis or master-slave axes motion state in the axis group 5: There is an axis in the error state in the axis group...
Page 173: Axis Group Enable And Reset
TS600 Series Programmable Logic Controller Programming and Application Manual Interpolation Function Status Axis Group Status Status Description Code GroupStopping Axis Group Stop or Axis Group Immediate Stop is called The function block of the axis group is pulled up and...
Page 174: Linear Interpolation
TS600 Series Programmable Logic Controller Programming and Application Manual Interpolation Function 13.2.4 Linear Interpolation Please use it with the explanation of instruction parameters in the Instruction Manual for the first time. Linear interpolation calls the instruction MC_MoveLinear. Before running it, please make sure that the panels of "AXISGROUP-Basic setting"...
Page 175: Axis Group Halt
TS600 Series Programmable Logic Controller Programming and Application Manual Interpolation Function According to the given parameters, the planning trajectory is as follows: y axis Use radius mode： major arc clockwise A radius of 100 （0，0） EndPoint x axis StartPoint（100，-100） 13.2.6 Axis Group Halt The axis group calls MC_GroupHalt for halt.
Page 176: Axis Group Stop
TS600 Series Programmable Logic Controller Programming and Application Manual Interpolation Function 13.2.7 Axis Group Stop The axis group calls MC_GroupStop for halt. Only when the current axis group state is in the GroupStandStill or GroupSynchronizeMotion state can MC_GroupStop be enabled successfully. When pulled up successfully, the axis group status is set to GroupStopping.
Page 177: Axis Group Interrupt Mechanism
TS600 Series Programmable Logic Controller Programming and Application Manual Interpolation Function Note: At present, when multiple function blocks of MC_GroupSetOverRide call an axis group number, only the first block takes effect, and the later ones will report an error. 13.2.10 Axis Group Interrupt Mechanism The interruption mechanism of axis group is that the resultant speed is unchanged after interrupt, while the speed of single axis may jump to a certain extent.
Page 178 TS600 Series Programmable Logic Controller Programming and Application Manual Interpolation Function 202403 (V1.0)
Page 179: Electronic Cam Function
TS600 Series Programmable Logic Controller Programming and Application Manual Electronic Cam Function 14 Electronic Cam Function 14.1 Brief Introduction of Electronic Cam The electronic cam essentially indicates the movement of the axis following the master axis, and the movement relationship between the master and the slave axes can be expressed by the key point data of the cam table or the electronic gear ratio.
Page 180: Cam Node Setting
TS600 Series Programmable Logic Controller Programming and Application Manual Electronic Cam Function 14.2.2 Cam Node Setting Users can set cam nodes in the parameter point editing area according to application requirements. By clicking "+" in the insert option you can add a cam node data and edit the related data. You can also select the specified node data and click "-"...
Page 181: Import And Export
TS600 Series Programmable Logic Controller Programming and Application Manual Electronic Cam Function Note: The position curve moves the key points of the cam up and down, left and right, the speed ratio curve  can only move up and down, and the acceleration ratio curve is not allowed to be changed.
Page 182: State Machine
TS600 Series Programmable Logic Controller Programming and Application Manual Electronic Cam Function 14.3 State Machine MC_MoveLinear MC_MoveCircular2D MC_MoveCircular3D MC_CamIn MC_GearIn MC_GearInPos MC_CombineAxes MC_CamOut MC_MoveVelovity MC_GearOut SyncMotion MC_MoveVelocityCSV MC_MoveAbsolute MC_SyncMoveVelocity MC_MoveRelative MC_TorqueControl MC_Halt MC_SyncTorqueControl MC_MoveFeed MC_Jog MC_MoveBuffer DiscreteMotion ContinuousMotion MC_ImmediateStop Position...
Page 183: Electronic Cam Operation
TS600 Series Programmable Logic Controller Programming and Application Manual Electronic Cam Function Switching Switching Condition is OFF When MC_Reset is called to reset axis failure and MC_Power energy flow is ON When MC_Power energy flow is ON and the output flag Status is ON When MC_Stop (MC_ImmediateStop).Done=ON and the graph block...
Page 184: Cam Action
TS600 Series Programmable Logic Controller Programming and Application Manual Electronic Cam Function Step 2 Call MC_Power to control the enable of the master axis and slave axis. Step 3 Call MC_Jog to control the forward and reverse motion of the master axis.
Page 185: Basic Block Diagram
TS600 Series Programmable Logic Controller Programming and Application Manual Electronic Cam Function 14.4.2.1 Basic Block Diagram Set in ReferenceType Cam motion Feedback position Command CAM operation position Command position 14.4.2.2 Function Description The master axis and slave axis types applicable to cam action are as follows: Master axis: fieldbus servo axis, local pulse axis and local encoder axis.
Page 186 TS600 Series Programmable Logic Controller Programming and Application Manual Electronic Cam Function Phase Shift Note: Please refer to the instructions MC_CamIn and MC_CamOut in the Instruction Manual for details. 14.4.2.3 Example Axis_0 serves as the master axis of the cam, and Axis_1 serves as the slave axis that follows Axis_0 to perform cam action.
Page 187: Cam Table
TS600 Series Programmable Logic Controller Programming and Application Manual Electronic Cam Function Step 6 Call MC_CamOut to cancel the cam action 14.4.3 Cam table 14.4.3.1 Brief Introduction of Cam Table In the cam function module, a pair of data composed of master axis phase and slave axis displacement is defined as cam data, and the combination of multiple cam data is defined as cam table.
Page 188 TS600 Series Programmable Logic Controller Programming and Application Manual Electronic Cam Function 14.4.3.3 Create a Cam Table Cam table variables can only be created in the background. Every time a cam table is added in the background, a cam table variable is created by default. And enter the ID number of the cam table for CamTable.
Page 189: Phase Shift
TS600 Series Programmable Logic Controller Programming and Application Manual Electronic Cam Function 14.4.3.5 Modify Cam Table Data The cam data can be modified temporarily with the following methods: Create a new cam node array in PLC program, and copy the values in the cam node array to the ca m table with MC_GenerateCamTable, which are executed in the next cam cycle.
Page 190: Motion Superposition
TS600 Series Programmable Logic Controller Programming and Application Manual Electronic Cam Function Execute Done Busy Active From the position of the master as Actual Master Position viewed from the slave side Master Vleocity Slave Position 14.4.5 Motion Superposition By calling MC_MoveSuperImPosed, the motion superposition function of the motion control axis is realized, and the motion of the axis will not be interrupted during the motion superposition process.
Page 191 TS600 Series Programmable Logic Controller Programming and Application Manual Electronic Cam Function Parameter Setting Processing Method and stop after reaching the limit Cam and gear support hard limit in linear mode and circular mode,  and stop immediately after reaching the hard limit...
Page 192: Memory Formula Management
TS600 Series Programmable Logic Controller Programming and Application Manual Memory Formula Management 15 Memory Formula Management 15.1 Overview Memory management includes custom variables and soft element variable memory management. By obtaining variable memory data at a certain time as data basis for debugging and analysis, variable memory data at a certain time can also be saved as formula data for debugging parameters of different processes or formula parameters of multiple links of the same process.
Page 193: Memory Management Of Custom Variable Table
TS600 Series Programmable Logic Controller Programming and Application Manual Memory Formula Management 15.3 Memory Management of Custom Variable Table 15.3.1 Expand and Fold Complex Type Variables Custom variable table contains complex type variables, namely arrays and structs. The system supports expanding and folding the sub-members of arrays and structs.
Page 194: Memory Management Of Soft Elements
TS600 Series Programmable Logic Controller Programming and Application Manual Memory Formula Management 15.4 Memory Management of Soft Elements 15.4.1 Operation Interface The soft element table contains two functions: comments and memory management, and the operation interface is as shown in the following figure.
Page 195: Expansion Module
TS600 Series Programmable Logic Controller Programming and Application Manual Expansion Module 16 Expansion Module 16.1 TS600 Series Host Local Expansion Module 16.1.1 Summary of Expansion Module TS600 can have up to 16 local expansion modules, and access the local extension through module configuration.
Page 196: Expansion Module Configuration
TS600 Series Programmable Logic Controller Programming and Application Manual Expansion Module Data Name Description type _sExtModule.sExtSlot[n].Disable BOOL nth expansion module Disable flag _sExtModule.sExtSlot[n].SWVersion DINT nth expansion module Software version _sExtModule.sExtSlot[n].LGVersion DINT nth expansion module Logic device version _sExtModule.ActNum gives feedback on how many expansion modules the user actually mounts.
Page 197: Expansion Module Configuration
TS600 Series Programmable Logic Controller Programming and Application Manual Expansion Module 16.1.4 Expansion Module Configuration 16.1.4.1 Digital Input Module The digital input modules include FL1001-1600DI and FL1002-3200DI. As local expansion modules, the specific method to use is as follows: Step 1 In the module list, select the module you want to add, double-click the module to automatically expand it on the expansion rack, or drag it to the expansion rack with the left mouse button.
Page 198: Digital Output Module
TS600 Series Programmable Logic Controller Programming and Application Manual Expansion Module Note: Every 8 points in the input module share a filter parameter, the unit of this filter parameter is 10us, and  1,000 means 10ms. The subscript of the IO mapping bit element needs to be a multiple of 010 (octal), for example, X20, X30, ...
Page 199 TS600 Series Programmable Logic Controller Programming and Application Manual Expansion Module Step 2 When the local digital output expansion module is connected to the main module, double -click the module to pop up the module configuration interface, where you can configure the module type, post-stop output method and IO mapping according to the actual demand.
Page 200: Analog Input Module
TS600 Series Programmable Logic Controller Programming and Application Manual Expansion Module Note: The subscript of the IO mapping bit element needs to be a multiple of 010 (octal), for example, Y20, Y30,  Y110. After configuring the post-stop output mode, the PLC will output according to the configured STOP ...
Page 201: Input Type
TS600 Series Programmable Logic Controller Programming and Application Manual Expansion Module Note: Channel Enable: Channel enable disabled for unused channels to save scanning time.  When the channel interference is serious, the enhanced filtering is preferentially enabled, and then the ...
Page 202 TS600 Series Programmable Logic Controller Programming and Application Manual Expansion Module Note: Channel Enable: Channel enable disabled for unused channels to save scanning time.  After configuring the post-stop output mode, the PLC will output according to the configured STOP ...
Page 203 TS600 Series Programmable Logic Controller Programming and Application Manual Expansion Module Rated Corresponding Digital Input Type Rated Output Range Quantity -10V–10V -20000–20000 0V–10V 0–20000 Analog voltage output -5V–5V -20000–20000 0V–5V 0–20000 0mA–20mA 0–20000 Analog current output 4mA–20mA 0–20000 16.1.4.5 Temperature Sampling Module The temperature sampling modules include FL3101-4PT and FL3201-4TC.
Page 204: Basic Operation Of Local Expansion Module
TS600 Series Programmable Logic Controller Programming and Application Manual Expansion Module Note: Channel Enable: Channel enable disabled for unused channels to save scanning time.  The upper and lower temperature limits are related to the sensor type, and the corresponding upper ...
Page 205: Module Disable
TS600 Series Programmable Logic Controller Programming and Application Manual Expansion Module 2. It will take effect after compilation without error and after the program is successfully downloaded. 16.2.2 Module Disable 1. In the module list, select the module to be disabled, double -click it, and uncheck "Module enable" in the pop-up configuration interface.
Page 206 TS600 Series Programmable Logic Controller Programming and Application Manual Expansion Module 202403 (V1.0)
Page 207: Subroutine, Library
TS600 Series Programmable Logic Controller Programming and Application Manual Subroutine, Library 17 Subroutine, Library 17.1 Subroutine The execution logic and cyclic scanning mode of main program and subroutines are shown in the following figure. Interrupt Program Main Program Call SBR...
Page 208: Matters Needing Attention In The Use Of General Subroutines
TS600 Series Programmable Logic Controller Programming and Application Manual Subroutine, Library 17.2.1 Matters Needing Attention in the Use of General Subroutines When writing or calling subroutines, you should pay attention to the following matters: The mosaic call of subroutines is supported, and the maximum number of mosaic call layers is 6.
Page 209: General Subroutine Parameter Passing
TS600 Series Programmable Logic Controller Programming and Application Manual Subroutine, Library Table 17-1 Variable Data Type Variable data type Data Type Description Occupy LM/V Element Address occupies element BOOL Bit-type variable address Signed integer variable It occupies 1 V element address...
Page 210: Interrupt Subroutine Application
TS600 Series Programmable Logic Controller Programming and Application Manual Subroutine, Library Step 3: Write the main program and call the subroutine. In the main program, use CALL instruction to call subroutine SBR_1. The code of the whole main program is as follows:...
Page 211 TS600 Series Programmable Logic Controller Programming and Application Manual Subroutine, Library 2. Right-click the inserted interrupt subroutine (INT_001 in the figure) and select "Attribute" to open the interrupt subroutine setting page as shown in the following figure. 3. Click the icon after the "Interrupt event"...
Page 212: Timer Interrupt Subroutine
TS600 Series Programmable Logic Controller Programming and Application Manual Subroutine, Library 17.3.2 Timer Interrupt Subroutine The specific application steps are as follows: 1. Click "Project manager", and right-click "Program block" to choose "Insert interrupt subroutine ". 2. Right-click the inserted interrupt subroutine (INT_001 in the figure) and select "Attribute" to open the interrupt subroutine setting page as shown in the following figure.
Page 213 TS600 Series Programmable Logic Controller Programming and Application Manual Subroutine, Library 6. Start EI in the main program, and the corresponding interrupt subroutine will be triggered to execute when the timer interrupt condition is met. 202403 (V1.0)
Page 214: Application Of Custom Variable Communication
TS600 series PLC is realized by mapping the custom variable of TS600 series to Modbus address. 18.2 Example Project Write a TS600 series bit operation program, and dis play the corresponding bit elements and control word status on the INVT touch screen. 18.3 PLC Programming Step 1 Establish a new PLC project, see 2.4 Programming and Debugging...
Page 215: Touch Screen Programming
TS600 Series Programmable Logic Controller Programming and Application Manual Application of Custom Variable Communication Elements are used directly for custom variables, so in actual use, the interface displays the element name. Step 4 For communication configuration, double-click "Ethernet 1" to check "ModbusTCP slave"...
Page 216 TS600 Series Programmable Logic Controller Programming and Application Manual Application of Custom Variable Communication 202403 (V1.0)
Page 217: Fault Diagnosis
TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis 19 Fault Diagnosis 19.1 Panel Diagnosis 19.1.1 Indicator The status definition of TS600 series panel indicator lights is shown in the following table . Interface Indicator Port type Definition...
Page 218: Software Diagnosis
TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Interface Indicator Port type Definition Description sign Color light flashing: Communication is in progress Off: The link is not established  19.2 Software Diagnosis 19.2.1 Get the Basic Information of PLC Users can click on the "PLC"...
Page 219: Error Code List
TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis 19.3 Error Code List 19.3.1 Error Code Classification Sub-error Code Device Main Error Device Type Module Type Range Category Code (HEX) (HEX) 0001– Hardware failure 0001 FFFF System-related System failure 0002 0001–FFFF...
Page 220 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Sub-error Code Device Main Error Device Type Module Type Range Category Code (HEX) (HEX) Serial freeport 1 0046 0001–FFFF Serial freeport 2 0047 0001–FFFF Serial freeport 3 0048 0001–FFFF Reserved fault 0049–004F...
Page 221: Error Code List
TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis 19.3.2 Error Code List Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) Button cell is not installed 0x0001(1) General error...
Page 222 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) Element variable Check whether the element 0x0012(18) Serious error forced setting failed...
Page 223 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) Modbus TCP Master 1 Check whether the profile data 0x0027(39) General error...
Page 224 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) mapping Error detecting Check whether 0x0047(71) Serious error power-down keeping file power-down keeping file is...
Page 225 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) set correctly Stop PID operation and check 0x0036(54) General error Wrong PID integration time...
Page 226 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) hardware is damaged or the battery is exhausted Check whether the stack data...
Page 227 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) Failure to write RTC time of Check whether FPGA and 0x0006(6) Warning...
Page 228 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) reasonable Check whether the current PLCopen state axis state satisfies unreasonable 0x0003(3)
Page 229 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) does not support repeated not support repeated calls to call technology function blocks, please avoid...
Page 230 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) current instruction The current function block 0x001D(29) Warning function is not available yet,...
Page 231 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) During running, EtherCAT Current axis communication failed, check 0x0027(39) Warning communication failed...
Page 232 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) state Please check whether the MC_SetOverride instruction instruction parameter is within 0x006E(110) Warning...
Page 233 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) in current axis state the speed regulation is not effective The current axis is in the...
Page 234 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) Check whether PDO data in "Process data" configuration interface The probe channel used is...
Page 235 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) MC_Reset to reset the axis state The process data 0x6060 and PDO data used is not...
Page 236 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) Check whether the master axis state meets current instruction requirements; 0x00CD(205) Warning...
Page 237 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) Check MC_GenerateCamTable Cam table starting point instruction custom cam table 0x00E2(226) Warning...
Page 238 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) is not in the valid range instruction Channel parameter setting are within...
Page 239 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) instruction 1, Check whether the phase difference between MC_GetCamTableDistance starting point and the ending...
Page 240 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) the starting point and the end point is more than twice the...
Page 241 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) configured deceleration parameters Check corresponding 0x0138(312) General error are not within a reasonable...
Page 242 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) If two axis groups use the Modify the reused axes, or same axis, when one axis...
Page 243 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) Preset module-No axis 0x0403(1027) Warning Set a proper axis ID. number configured...
Page 244 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) maximum value One-dimensional step length comparison 0x0702(1794) Warning Set a proper axis ID.
Page 245 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) function Linear mode-The starting The starting position is less position is less than the...
Page 246 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) than 0. Probe module-Axis 0x0901(2305) Warning Set a proper axis ID. exceeds maximum value...
Page 247 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) selection parameter configured Linear mode configuration-Software limit 0x0A06(2566) Warning Set a software limit parameter.
Page 248 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) revolution worktable not configured Gear ratio mode configuration-Maximum Set the gear ratio numerator...
Page 249 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) and the current instruction cannot be executed Not in "Fault Stop State",...
Page 250 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) set properly. Axis halt instruction Check whether line 0x001E(30) Warning execution timeout...
Page 251 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) the physical configuration of the module Analog input channel 0 Check channel 0 parameter...
Page 252 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) Analog input channel 2 Check whether the channel 2 0x0038(56) Warning sampling signal exceeds...
Page 253 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) output fault short/open circuit Check whether the network Temperature sampling configuration corresponds to...
Page 254 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) Temperature sampling Check the physical connection 0x0045(69) Warning channel 3 signal source...
Page 255 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) protocol or the number of elements exceeds maximum limit specified by the function code...
Page 256 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) received or sent exceeds the storage space of the element) The length of data received...
Page 257 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) Check whether the baud rate, 0x0009(9) Warning CRC/LRC check error data bit and parity bit are...
Page 258 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) communication Check whether line 0x0007(7) Warning connection is disconnected connection is normal...
Page 259 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) Communication timeout, communication time Check whether the serial 0x0005(5) Warning exceeds maximum...
Page 260 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) number error master connected with PLC is legal Standard Modbus error, Check whether the master...
Page 261 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) length setting error receive length Element address overflow Check the receive or transmit...
Page 262 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) configure the parameters of the serial port Transmit length or receive Check the transmit length or...
Page 263 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) data loss and other problems. Update the version of the Wrong number of module...
Page 264 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) length matching exception upper computer or contact INVT technical service. Update the version of the...
Page 265 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) Update the version of the Connection module 0x106B(4203) Serious error upper computer or contact input length exception INVT technical service.
Page 266 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) INVT technical service. Update the version of the Connection module 0x108A(4234) Serious error...
Page 267 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) Update the version of the Connection element 0x10A8(4264) Serious error upper computer or contact matching exception INVT technical service.
Page 268 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) attribute ID. Check the wire, connection Connection 7 connection 0x3007(12295) Warning port, connection mode, and not established attribute ID.
Page 269 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) 0x302D(12333) Warning Connection 13 path error Check the configuration path. 0x302E(12334) Warning Connection 14 path error Check the configuration path.
Page 270 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) data size mismatch matched between the sender and the receiver. Check the size of the data...
Page 271 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) Check the wire, connection Connection 0x30A1(12449) Warning port, connection mode, and communication timeout attribute ID.
Page 272 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) attribute ID. Network configuration Contact INVT technical 0x4020(16416) Serious error exception service.
Page 273 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) Check whether the number of number slaves 0x0009(9) General error slaves exceeds max.
Page 274 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) Check whether the number Standard Modbus error, configuration accessed by the 0x0003(3)
Page 275 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) program Check whether Standard Modbus error, configuration of function code 0x0001(1) Warning...
Page 276 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) The received slave address Check the slave connected 0x000C(12) Warning does match...
Page 277 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) received or sent exceeds the storage space of the element) The length of data received...
Page 278 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) connection is disconnected connection is normal The received data frame Check whether the baud rate,...
Page 279 TS600 Series Programmable Logic Controller Programming and Application Manual Fault Diagnosis Hexadecimal Hexadecimal main error error subcode code Error level Meaning of error Solutions (corresponding (corresponding decimal) decimal) Transmit instruction 0x0005(5) General error Check the network connection execution failed Receive...
Page 280: Firmware Burning And Upgrade
TS600 Series Programmable Logic Controller Programming and Application Manual Firmware Burning and Upgrade 20 Firmware Burning and Upgrade 20.1 Upper Computer Firmware Upgrade Step 1 When users use Ethernet or USB to connect PLC, they can enter the firmware upgrade interface in the toolbar "Tool"...
Page 281: Sd Card Firmware Upgrade
TS600 Series Programmable Logic Controller Programming and Application Manual Firmware Burning and Upgrade Step 3 Wait for the pop-up "Download successfully" prompt box to complete the firmware upgrade. Note: After the upgrade is successful, it is necessary to manually power off and restart the PLC. After manual power off and restart, you can check the version information through PLC information to verify whether the upgrade is successful.
Page 282: Sd Card Upgrading Steps
TS600 Series Programmable Logic Controller Programming and Application Manual Firmware Burning and Upgrade Set the attributes of the downloaded file in the "Generate executable package" interface that pops up in the system, and then click "OK". Step 2 Options: Check "Project source code", "Application program", "POU information", "System block"...
Page 283 TS600 Series Programmable Logic Controller Programming and Application Manual Firmware Burning and Upgrade Step 4 There is only one file in each directory that needs to be upgraded. More than one file may cause unexpected problems. PLC firmware file: ...
Page 284: Upgrade Of Upper Computer Applications Or Open The Project
TS600 Series Programmable Logic Controller Programming and Application Manual Firmware Burning and Upgrade Upgrade Failure Cause of Failure Solution Error Code The patch file could not Check whether the file exists and whether the file 0x101 be found has a standard name...
Page 285: Open A Project With Upgrade Pack
TS600 Series Programmable Logic Controller Programming and Application Manual Firmware Burning and Upgrade uploa ded, and *. upcmf is the source file package that can be uploaded. After successful download, click Run to run the downloaded application. 20.3.2 Open a Project with Upgrade Pack Click on the "File>Open project"...
Page 286: Iot Expansion Card
The PLC can be monitored and operated remotely after adding devices by using the IoT monitoring platform. Enter: iot.invt.com in the address bar of Google Browser and press Enter to visit the login page of the industrial IoT application platform. As shown in the following figure, enter the account number and password to complete the login.
Page 287: Add A Device Type
IoT sim card into other devices, otherwise the sim card will be locked. 5. This product is an industrial IoT product. INVT has taken necessary technica l measures to ensure data security, but there may still be network security risks beyond our control or responsibility, such as hacking.
Page 288: Add Devices To Iot Platform
TS600 Series Programmable Logic Controller Programming and Application Manual 4G IoT Expansion Card Fill in the corresponding device type name and select the corresponding industry and click "Save". 21.4 Add Devices to IoT Platform Return to the homepage of the IoT business platform, enter the adapter code, key and device alias in the "Add devices quickly"...
Page 289: Establish Vpn Transparent Transmission Channel
TS600 Series Programmable Logic Controller Programming and Application Manual 4G IoT Expansion Card Step 4 Slide the expansion card into the guide slot horizontally, and then press the snap positions on the upper and lower sides of the expansion card hard until the expansion card is snapped tightly (there is obvious snap sound after it is installed in place).
Page 290 TS600 Series Programmable Logic Controller Programming and Application Manual 4G IoT Expansion Card 3. Double-click on "4G" to open the VPNTool tool. Before establishing the VPN transparent transmission channel, please ensure that the network adapter on the PC side does not have a manually set IP, o therwise please set it to automatically obtain IP.
Page 291: Connect Plc Remotely Through Vpn
TS600 Series Programmable Logic Controller Programming and Application Manual 4G IoT Expansion Card 6. Click the button to establish VPN transparent transmission and the connection progress will be displayed. After the progress bar reaches 100%, the transparent transmission is successfully established.
Page 292: Web
TS600 Series Programmable Logic Controller Programming and Application Manual 4G IoT Expansion Card Answer: Check whether the device is installed correctly. 2. When using 4G to surf the Internet, the network status indicator light (NET) always flashes slowly, and a window indicating MQTT connection abnormality pops up when establishing VPN transparent transmission.
Page 293 TS600 Series Programmable Logic Controller Programming and Application Manual 4G IoT Expansion Card 4. Click the add button to add a configuration. I n this case we select Monitoring D0–D15, and the sampling time is 30 seconds. The configurable contents are as follows:...
Page 294 TS600 Series Programmable Logic Controller Programming and Application Manual 4G IoT Expansion Card Select the device currently in use on the device monitoring page and click its adapter code to move to the next tier of device monitoring page. Click "Param manage" on this page.
Page 295 TS600 Series Programmable Logic Controller Programming and Application Manual 4G IoT Expansion Card Click "Add" to configure a monitor. Add parameter name, industry and device type, and check writable (element value can be written). Example: When monitoring D0 element, the Modbus address is filled in as needed, and 0 address corresponds to D0 element.
Page 296 TS600 Series Programmable Logic Controller Programming and Application Manual 4G IoT Expansion Card When monitoring bit elements, the rule for filling in the Modbus address is: "m"+"Modbus address". Example: When monitoring M0 bit elements, the Modbus address is filled in "m0".
Page 297: Module Interface Description
TS600 Series Programmable Logic Controller Programming and Application Manual 4G IoT Expansion Card 21.8 Module Interface Description See the following table for the meaning of 4G module interface. Interface Port type Definition Description sign SD card socket Micro SD Standard definition...
Page 298: Appendix
TS600 Series Programmable Logic Controller Programming and Application Manual Appendix 22 Appendix 22.1 Modbus protocol 22.1.1 Modbus-RTU When the device uses RTU (Remote Terminal Unit) mode to communicate on Modbus serial link, each 8 -bit byte in the message contains two 4-bit hexadecimal characters. The main advantages of this mode are higher data density and higher throughput than ASCII mode at the same baud rate.
Page 299: Modbus-Tcp
TS600 Series Programmable Logic Controller Programming and Application Manual Appendix 22.1.3 Modbus-TCP Modbus messaging service provides client/server communication between devices connected in the same Ethernet TCP/IP network. Modbus protocol defines a simple Protocol Data Unit (PDU) independent of the underlying communication layer.
Page 300: Example Of Modbus Message Parsing
TS600 Series Programmable Logic Controller Programming and Application Manual Appendix Function code Name Note 05(0x05) Write single coil Write bit 06(0x06) Write single register Write word 15(0x15) Write multiple coils Write bit 16(0x16) Write multiple registers Write word 22.1.5 Example of Modbus Message Parsing The request and response messages for reading a register with the above three Modbus protocols are given below.
Page 301: Modbus Abnormal Response
TS600 Series Programmable Logic Controller Programming and Application Manual Appendix 22.1.5.3 Modbus-TCP Master request message  Transaction Transaction Protocol Protocol Length Identifier Identifier Length (Low) identifier identifier (Height) (High) (Low) 0x00 0x00 0x00 0x00 0x00 0x06 Start address Start address...
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